diff options
Diffstat (limited to 'mavlink/include/mavlink/v1.0/common/mavlink_msg_optical_flow.h')
| -rw-r--r-- | mavlink/include/mavlink/v1.0/common/mavlink_msg_optical_flow.h | 331 |
1 files changed, 0 insertions, 331 deletions
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_optical_flow.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_optical_flow.h deleted file mode 100644 index cf6db9147..000000000 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_optical_flow.h +++ /dev/null @@ -1,331 +0,0 @@ -// MESSAGE OPTICAL_FLOW PACKING - -#define MAVLINK_MSG_ID_OPTICAL_FLOW 100 - -typedef struct __mavlink_optical_flow_t -{ - uint64_t time_usec; ///< Timestamp (UNIX) - float flow_comp_m_x; ///< Flow in meters in x-sensor direction, angular-speed compensated - float flow_comp_m_y; ///< Flow in meters in y-sensor direction, angular-speed compensated - float ground_distance; ///< Ground distance in meters. Positive value: distance known. Negative value: Unknown distance - int16_t flow_x; ///< Flow in pixels * 10 in x-sensor direction (dezi-pixels) - int16_t flow_y; ///< Flow in pixels * 10 in y-sensor direction (dezi-pixels) - uint8_t sensor_id; ///< Sensor ID - uint8_t quality; ///< Optical flow quality / confidence. 0: bad, 255: maximum quality -} mavlink_optical_flow_t; - -#define MAVLINK_MSG_ID_OPTICAL_FLOW_LEN 26 -#define MAVLINK_MSG_ID_100_LEN 26 - -#define MAVLINK_MSG_ID_OPTICAL_FLOW_CRC 175 -#define MAVLINK_MSG_ID_100_CRC 175 - - - -#define MAVLINK_MESSAGE_INFO_OPTICAL_FLOW { \ - "OPTICAL_FLOW", \ - 8, \ - { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_optical_flow_t, time_usec) }, \ - { "flow_comp_m_x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_optical_flow_t, flow_comp_m_x) }, \ - { "flow_comp_m_y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_optical_flow_t, flow_comp_m_y) }, \ - { "ground_distance", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_optical_flow_t, ground_distance) }, \ - { "flow_x", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_optical_flow_t, flow_x) }, \ - { "flow_y", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_optical_flow_t, flow_y) }, \ - { "sensor_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_optical_flow_t, sensor_id) }, \ - { "quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 25, offsetof(mavlink_optical_flow_t, quality) }, \ - } \ -} - - -/** - * @brief Pack a optical_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 (UNIX) - * @param sensor_id Sensor ID - * @param flow_x Flow in pixels * 10 in x-sensor direction (dezi-pixels) - * @param flow_y Flow in pixels * 10 in y-sensor direction (dezi-pixels) - * @param flow_comp_m_x Flow in meters in x-sensor direction, angular-speed compensated - * @param flow_comp_m_y Flow in meters in y-sensor direction, angular-speed compensated - * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality - * @param ground_distance Ground distance in meters. Positive value: distance known. Negative value: Unknown distance - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_optical_flow_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, - uint64_t time_usec, uint8_t sensor_id, int16_t flow_x, int16_t flow_y, float flow_comp_m_x, float flow_comp_m_y, uint8_t quality, float ground_distance) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[MAVLINK_MSG_ID_OPTICAL_FLOW_LEN]; - _mav_put_uint64_t(buf, 0, time_usec); - _mav_put_float(buf, 8, flow_comp_m_x); - _mav_put_float(buf, 12, flow_comp_m_y); - _mav_put_float(buf, 16, ground_distance); - _mav_put_int16_t(buf, 20, flow_x); - _mav_put_int16_t(buf, 22, flow_y); - _mav_put_uint8_t(buf, 24, sensor_id); - _mav_put_uint8_t(buf, 25, quality); - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN); -#else - mavlink_optical_flow_t packet; - packet.time_usec = time_usec; - packet.flow_comp_m_x = flow_comp_m_x; - packet.flow_comp_m_y = flow_comp_m_y; - packet.ground_distance = ground_distance; - packet.flow_x = flow_x; - packet.flow_y = flow_y; - packet.sensor_id = sensor_id; - packet.quality = quality; - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN); -#endif - - msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW; -#if MAVLINK_CRC_EXTRA - return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_CRC); -#else - return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN); -#endif -} - -/** - * @brief Pack a optical_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 (UNIX) - * @param sensor_id Sensor ID - * @param flow_x Flow in pixels * 10 in x-sensor direction (dezi-pixels) - * @param flow_y Flow in pixels * 10 in y-sensor direction (dezi-pixels) - * @param flow_comp_m_x Flow in meters in x-sensor direction, angular-speed compensated - * @param flow_comp_m_y Flow in meters in y-sensor direction, angular-speed compensated - * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality - * @param ground_distance Ground distance in meters. Positive value: distance known. Negative value: Unknown distance - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_optical_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,int16_t flow_x,int16_t flow_y,float flow_comp_m_x,float flow_comp_m_y,uint8_t quality,float ground_distance) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[MAVLINK_MSG_ID_OPTICAL_FLOW_LEN]; - _mav_put_uint64_t(buf, 0, time_usec); - _mav_put_float(buf, 8, flow_comp_m_x); - _mav_put_float(buf, 12, flow_comp_m_y); - _mav_put_float(buf, 16, ground_distance); - _mav_put_int16_t(buf, 20, flow_x); - _mav_put_int16_t(buf, 22, flow_y); - _mav_put_uint8_t(buf, 24, sensor_id); - _mav_put_uint8_t(buf, 25, quality); - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN); -#else - mavlink_optical_flow_t packet; - packet.time_usec = time_usec; - packet.flow_comp_m_x = flow_comp_m_x; - packet.flow_comp_m_y = flow_comp_m_y; - packet.ground_distance = ground_distance; - packet.flow_x = flow_x; - packet.flow_y = flow_y; - packet.sensor_id = sensor_id; - packet.quality = quality; - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN); -#endif - - msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW; -#if MAVLINK_CRC_EXTRA - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_CRC); -#else - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN); -#endif -} - -/** - * @brief Encode a optical_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 optical_flow C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_optical_flow_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_optical_flow_t* optical_flow) -{ - return mavlink_msg_optical_flow_pack(system_id, component_id, msg, optical_flow->time_usec, optical_flow->sensor_id, optical_flow->flow_x, optical_flow->flow_y, optical_flow->flow_comp_m_x, optical_flow->flow_comp_m_y, optical_flow->quality, optical_flow->ground_distance); -} - -/** - * @brief Encode a optical_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 optical_flow C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_optical_flow_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_optical_flow_t* optical_flow) -{ - return mavlink_msg_optical_flow_pack_chan(system_id, component_id, chan, msg, optical_flow->time_usec, optical_flow->sensor_id, optical_flow->flow_x, optical_flow->flow_y, optical_flow->flow_comp_m_x, optical_flow->flow_comp_m_y, optical_flow->quality, optical_flow->ground_distance); -} - -/** - * @brief Send a optical_flow message - * @param chan MAVLink channel to send the message - * - * @param time_usec Timestamp (UNIX) - * @param sensor_id Sensor ID - * @param flow_x Flow in pixels * 10 in x-sensor direction (dezi-pixels) - * @param flow_y Flow in pixels * 10 in y-sensor direction (dezi-pixels) - * @param flow_comp_m_x Flow in meters in x-sensor direction, angular-speed compensated - * @param flow_comp_m_y Flow in meters in y-sensor direction, angular-speed compensated - * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality - * @param ground_distance Ground distance in meters. Positive value: distance known. Negative value: Unknown distance - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_optical_flow_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t sensor_id, int16_t flow_x, int16_t flow_y, float flow_comp_m_x, float flow_comp_m_y, uint8_t quality, float ground_distance) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[MAVLINK_MSG_ID_OPTICAL_FLOW_LEN]; - _mav_put_uint64_t(buf, 0, time_usec); - _mav_put_float(buf, 8, flow_comp_m_x); - _mav_put_float(buf, 12, flow_comp_m_y); - _mav_put_float(buf, 16, ground_distance); - _mav_put_int16_t(buf, 20, flow_x); - _mav_put_int16_t(buf, 22, flow_y); - _mav_put_uint8_t(buf, 24, sensor_id); - _mav_put_uint8_t(buf, 25, quality); - -#if MAVLINK_CRC_EXTRA - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, buf, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_CRC); -#else - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, buf, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN); -#endif -#else - mavlink_optical_flow_t packet; - packet.time_usec = time_usec; - packet.flow_comp_m_x = flow_comp_m_x; - packet.flow_comp_m_y = flow_comp_m_y; - packet.ground_distance = ground_distance; - packet.flow_x = flow_x; - packet.flow_y = flow_y; - packet.sensor_id = sensor_id; - packet.quality = quality; - -#if MAVLINK_CRC_EXTRA - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, (const char *)&packet, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_CRC); -#else - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, (const char *)&packet, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN); -#endif -#endif -} - -#endif - -// MESSAGE OPTICAL_FLOW UNPACKING - - -/** - * @brief Get field time_usec from optical_flow message - * - * @return Timestamp (UNIX) - */ -static inline uint64_t mavlink_msg_optical_flow_get_time_usec(const mavlink_message_t* msg) -{ - return _MAV_RETURN_uint64_t(msg, 0); -} - -/** - * @brief Get field sensor_id from optical_flow message - * - * @return Sensor ID - */ -static inline uint8_t mavlink_msg_optical_flow_get_sensor_id(const mavlink_message_t* msg) -{ - return _MAV_RETURN_uint8_t(msg, 24); -} - -/** - * @brief Get field flow_x from optical_flow message - * - * @return Flow in pixels * 10 in x-sensor direction (dezi-pixels) - */ -static inline int16_t mavlink_msg_optical_flow_get_flow_x(const mavlink_message_t* msg) -{ - return _MAV_RETURN_int16_t(msg, 20); -} - -/** - * @brief Get field flow_y from optical_flow message - * - * @return Flow in pixels * 10 in y-sensor direction (dezi-pixels) - */ -static inline int16_t mavlink_msg_optical_flow_get_flow_y(const mavlink_message_t* msg) -{ - return _MAV_RETURN_int16_t(msg, 22); -} - -/** - * @brief Get field flow_comp_m_x from optical_flow message - * - * @return Flow in meters in x-sensor direction, angular-speed compensated - */ -static inline float mavlink_msg_optical_flow_get_flow_comp_m_x(const mavlink_message_t* msg) -{ - return _MAV_RETURN_float(msg, 8); -} - -/** - * @brief Get field flow_comp_m_y from optical_flow message - * - * @return Flow in meters in y-sensor direction, angular-speed compensated - */ -static inline float mavlink_msg_optical_flow_get_flow_comp_m_y(const mavlink_message_t* msg) -{ - return _MAV_RETURN_float(msg, 12); -} - -/** - * @brief Get field quality from optical_flow message - * - * @return Optical flow quality / confidence. 0: bad, 255: maximum quality - */ -static inline uint8_t mavlink_msg_optical_flow_get_quality(const mavlink_message_t* msg) -{ - return _MAV_RETURN_uint8_t(msg, 25); -} - -/** - * @brief Get field ground_distance from optical_flow message - * - * @return Ground distance in meters. Positive value: distance known. Negative value: Unknown distance - */ -static inline float mavlink_msg_optical_flow_get_ground_distance(const mavlink_message_t* msg) -{ - return _MAV_RETURN_float(msg, 16); -} - -/** - * @brief Decode a optical_flow message into a struct - * - * @param msg The message to decode - * @param optical_flow C-struct to decode the message contents into - */ -static inline void mavlink_msg_optical_flow_decode(const mavlink_message_t* msg, mavlink_optical_flow_t* optical_flow) -{ -#if MAVLINK_NEED_BYTE_SWAP - optical_flow->time_usec = mavlink_msg_optical_flow_get_time_usec(msg); - optical_flow->flow_comp_m_x = mavlink_msg_optical_flow_get_flow_comp_m_x(msg); - optical_flow->flow_comp_m_y = mavlink_msg_optical_flow_get_flow_comp_m_y(msg); - optical_flow->ground_distance = mavlink_msg_optical_flow_get_ground_distance(msg); - optical_flow->flow_x = mavlink_msg_optical_flow_get_flow_x(msg); - optical_flow->flow_y = mavlink_msg_optical_flow_get_flow_y(msg); - optical_flow->sensor_id = mavlink_msg_optical_flow_get_sensor_id(msg); - optical_flow->quality = mavlink_msg_optical_flow_get_quality(msg); -#else - memcpy(optical_flow, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_OPTICAL_FLOW_LEN); -#endif -} |