diff options
Diffstat (limited to 'mavlink/include/mavlink/v1.0/common/mavlink_msg_omnidirectional_flow.h')
| -rw-r--r-- | mavlink/include/mavlink/v1.0/common/mavlink_msg_omnidirectional_flow.h | 282 |
1 files changed, 0 insertions, 282 deletions
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_omnidirectional_flow.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_omnidirectional_flow.h deleted file mode 100644 index 4debb6e66..000000000 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_omnidirectional_flow.h +++ /dev/null @@ -1,282 +0,0 @@ -// MESSAGE OMNIDIRECTIONAL_FLOW PACKING - -#define MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW 106 - -typedef struct __mavlink_omnidirectional_flow_t -{ - uint64_t time_usec; ///< Timestamp (microseconds, synced to UNIX time or since system boot) - float front_distance_m; ///< Front distance in meters. Positive value (including zero): distance known. Negative value: Unknown distance - int16_t left[10]; ///< Flow in deci pixels (1 = 0.1 pixel) on left hemisphere - int16_t right[10]; ///< Flow in deci pixels (1 = 0.1 pixel) on right hemisphere - uint8_t sensor_id; ///< Sensor ID - uint8_t quality; ///< Optical flow quality / confidence. 0: bad, 255: maximum quality -} mavlink_omnidirectional_flow_t; - -#define MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_LEN 54 -#define MAVLINK_MSG_ID_106_LEN 54 - -#define MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_CRC 211 -#define MAVLINK_MSG_ID_106_CRC 211 - -#define MAVLINK_MSG_OMNIDIRECTIONAL_FLOW_FIELD_LEFT_LEN 10 -#define MAVLINK_MSG_OMNIDIRECTIONAL_FLOW_FIELD_RIGHT_LEN 10 - -#define MAVLINK_MESSAGE_INFO_OMNIDIRECTIONAL_FLOW { \ - "OMNIDIRECTIONAL_FLOW", \ - 6, \ - { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_omnidirectional_flow_t, time_usec) }, \ - { "front_distance_m", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_omnidirectional_flow_t, front_distance_m) }, \ - { "left", NULL, MAVLINK_TYPE_INT16_T, 10, 12, offsetof(mavlink_omnidirectional_flow_t, left) }, \ - { "right", NULL, MAVLINK_TYPE_INT16_T, 10, 32, offsetof(mavlink_omnidirectional_flow_t, right) }, \ - { "sensor_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 52, offsetof(mavlink_omnidirectional_flow_t, sensor_id) }, \ - { "quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 53, offsetof(mavlink_omnidirectional_flow_t, quality) }, \ - } \ -} - - -/** - * @brief Pack a omnidirectional_flow message - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param msg The MAVLink message to compress the data into - * - * @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot) - * @param sensor_id Sensor ID - * @param left Flow in deci pixels (1 = 0.1 pixel) on left hemisphere - * @param right Flow in deci pixels (1 = 0.1 pixel) on right hemisphere - * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality - * @param front_distance_m Front distance in meters. Positive value (including zero): distance known. Negative value: Unknown distance - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_omnidirectional_flow_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, - uint64_t time_usec, uint8_t sensor_id, const int16_t *left, const int16_t *right, uint8_t quality, float front_distance_m) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_LEN]; - _mav_put_uint64_t(buf, 0, time_usec); - _mav_put_float(buf, 8, front_distance_m); - _mav_put_uint8_t(buf, 52, sensor_id); - _mav_put_uint8_t(buf, 53, quality); - _mav_put_int16_t_array(buf, 12, left, 10); - _mav_put_int16_t_array(buf, 32, right, 10); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_LEN); -#else - mavlink_omnidirectional_flow_t packet; - packet.time_usec = time_usec; - packet.front_distance_m = front_distance_m; - packet.sensor_id = sensor_id; - packet.quality = quality; - mav_array_memcpy(packet.left, left, sizeof(int16_t)*10); - mav_array_memcpy(packet.right, right, sizeof(int16_t)*10); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_LEN); -#endif - - msg->msgid = MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW; -#if MAVLINK_CRC_EXTRA - return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_LEN, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_CRC); -#else - return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_LEN); -#endif -} - -/** - * @brief Pack a omnidirectional_flow message on a channel - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param chan The MAVLink channel this message will be sent over - * @param msg The MAVLink message to compress the data into - * @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot) - * @param sensor_id Sensor ID - * @param left Flow in deci pixels (1 = 0.1 pixel) on left hemisphere - * @param right Flow in deci pixels (1 = 0.1 pixel) on right hemisphere - * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality - * @param front_distance_m Front distance in meters. Positive value (including zero): distance known. Negative value: Unknown distance - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_omnidirectional_flow_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, - mavlink_message_t* msg, - uint64_t time_usec,uint8_t sensor_id,const int16_t *left,const int16_t *right,uint8_t quality,float front_distance_m) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_LEN]; - _mav_put_uint64_t(buf, 0, time_usec); - _mav_put_float(buf, 8, front_distance_m); - _mav_put_uint8_t(buf, 52, sensor_id); - _mav_put_uint8_t(buf, 53, quality); - _mav_put_int16_t_array(buf, 12, left, 10); - _mav_put_int16_t_array(buf, 32, right, 10); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_LEN); -#else - mavlink_omnidirectional_flow_t packet; - packet.time_usec = time_usec; - packet.front_distance_m = front_distance_m; - packet.sensor_id = sensor_id; - packet.quality = quality; - mav_array_memcpy(packet.left, left, sizeof(int16_t)*10); - mav_array_memcpy(packet.right, right, sizeof(int16_t)*10); - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_LEN); -#endif - - msg->msgid = MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW; -#if MAVLINK_CRC_EXTRA - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_LEN, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_CRC); -#else - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_LEN); -#endif -} - -/** - * @brief Encode a omnidirectional_flow struct - * - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param msg The MAVLink message to compress the data into - * @param omnidirectional_flow C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_omnidirectional_flow_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_omnidirectional_flow_t* omnidirectional_flow) -{ - return mavlink_msg_omnidirectional_flow_pack(system_id, component_id, msg, omnidirectional_flow->time_usec, omnidirectional_flow->sensor_id, omnidirectional_flow->left, omnidirectional_flow->right, omnidirectional_flow->quality, omnidirectional_flow->front_distance_m); -} - -/** - * @brief Encode a omnidirectional_flow struct on a channel - * - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param chan The MAVLink channel this message will be sent over - * @param msg The MAVLink message to compress the data into - * @param omnidirectional_flow C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_omnidirectional_flow_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_omnidirectional_flow_t* omnidirectional_flow) -{ - return mavlink_msg_omnidirectional_flow_pack_chan(system_id, component_id, chan, msg, omnidirectional_flow->time_usec, omnidirectional_flow->sensor_id, omnidirectional_flow->left, omnidirectional_flow->right, omnidirectional_flow->quality, omnidirectional_flow->front_distance_m); -} - -/** - * @brief Send a omnidirectional_flow message - * @param chan MAVLink channel to send the message - * - * @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot) - * @param sensor_id Sensor ID - * @param left Flow in deci pixels (1 = 0.1 pixel) on left hemisphere - * @param right Flow in deci pixels (1 = 0.1 pixel) on right hemisphere - * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality - * @param front_distance_m Front distance in meters. Positive value (including zero): distance known. Negative value: Unknown distance - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_omnidirectional_flow_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t sensor_id, const int16_t *left, const int16_t *right, uint8_t quality, float front_distance_m) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_LEN]; - _mav_put_uint64_t(buf, 0, time_usec); - _mav_put_float(buf, 8, front_distance_m); - _mav_put_uint8_t(buf, 52, sensor_id); - _mav_put_uint8_t(buf, 53, quality); - _mav_put_int16_t_array(buf, 12, left, 10); - _mav_put_int16_t_array(buf, 32, right, 10); -#if MAVLINK_CRC_EXTRA - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW, buf, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_LEN, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_CRC); -#else - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW, buf, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_LEN); -#endif -#else - mavlink_omnidirectional_flow_t packet; - packet.time_usec = time_usec; - packet.front_distance_m = front_distance_m; - packet.sensor_id = sensor_id; - packet.quality = quality; - mav_array_memcpy(packet.left, left, sizeof(int16_t)*10); - mav_array_memcpy(packet.right, right, sizeof(int16_t)*10); -#if MAVLINK_CRC_EXTRA - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW, (const char *)&packet, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_LEN, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_CRC); -#else - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW, (const char *)&packet, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_LEN); -#endif -#endif -} - -#endif - -// MESSAGE OMNIDIRECTIONAL_FLOW UNPACKING - - -/** - * @brief Get field time_usec from omnidirectional_flow message - * - * @return Timestamp (microseconds, synced to UNIX time or since system boot) - */ -static inline uint64_t mavlink_msg_omnidirectional_flow_get_time_usec(const mavlink_message_t* msg) -{ - return _MAV_RETURN_uint64_t(msg, 0); -} - -/** - * @brief Get field sensor_id from omnidirectional_flow message - * - * @return Sensor ID - */ -static inline uint8_t mavlink_msg_omnidirectional_flow_get_sensor_id(const mavlink_message_t* msg) -{ - return _MAV_RETURN_uint8_t(msg, 52); -} - -/** - * @brief Get field left from omnidirectional_flow message - * - * @return Flow in deci pixels (1 = 0.1 pixel) on left hemisphere - */ -static inline uint16_t mavlink_msg_omnidirectional_flow_get_left(const mavlink_message_t* msg, int16_t *left) -{ - return _MAV_RETURN_int16_t_array(msg, left, 10, 12); -} - -/** - * @brief Get field right from omnidirectional_flow message - * - * @return Flow in deci pixels (1 = 0.1 pixel) on right hemisphere - */ -static inline uint16_t mavlink_msg_omnidirectional_flow_get_right(const mavlink_message_t* msg, int16_t *right) -{ - return _MAV_RETURN_int16_t_array(msg, right, 10, 32); -} - -/** - * @brief Get field quality from omnidirectional_flow message - * - * @return Optical flow quality / confidence. 0: bad, 255: maximum quality - */ -static inline uint8_t mavlink_msg_omnidirectional_flow_get_quality(const mavlink_message_t* msg) -{ - return _MAV_RETURN_uint8_t(msg, 53); -} - -/** - * @brief Get field front_distance_m from omnidirectional_flow message - * - * @return Front distance in meters. Positive value (including zero): distance known. Negative value: Unknown distance - */ -static inline float mavlink_msg_omnidirectional_flow_get_front_distance_m(const mavlink_message_t* msg) -{ - return _MAV_RETURN_float(msg, 8); -} - -/** - * @brief Decode a omnidirectional_flow message into a struct - * - * @param msg The message to decode - * @param omnidirectional_flow C-struct to decode the message contents into - */ -static inline void mavlink_msg_omnidirectional_flow_decode(const mavlink_message_t* msg, mavlink_omnidirectional_flow_t* omnidirectional_flow) -{ -#if MAVLINK_NEED_BYTE_SWAP - omnidirectional_flow->time_usec = mavlink_msg_omnidirectional_flow_get_time_usec(msg); - omnidirectional_flow->front_distance_m = mavlink_msg_omnidirectional_flow_get_front_distance_m(msg); - mavlink_msg_omnidirectional_flow_get_left(msg, omnidirectional_flow->left); - mavlink_msg_omnidirectional_flow_get_right(msg, omnidirectional_flow->right); - omnidirectional_flow->sensor_id = mavlink_msg_omnidirectional_flow_get_sensor_id(msg); - omnidirectional_flow->quality = mavlink_msg_omnidirectional_flow_get_quality(msg); -#else - memcpy(omnidirectional_flow, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_LEN); -#endif -} |