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// 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_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[54];
_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, 54);
#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, 54);
#endif
msg->msgid = MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW;
return mavlink_finalize_message(msg, system_id, component_id, 54, 211);
}
/**
* @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 was 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[54];
_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, 54);
#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, 54);
#endif
msg->msgid = MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 54, 211);
}
/**
* @brief Encode a omnidirectional_flow struct into a 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 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 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[54];
_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);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW, buf, 54, 211);
#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);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW, (const char *)&packet, 54, 211);
#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), 54);
#endif
}
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