Diff: MAVlink/include/common/mavlink_msg_optical_flow.h

Revision:

0:826c6171fc1b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MAVlink/include/common/mavlink_msg_optical_flow.h	Wed Jun 20 14:57:48 2012 +0000
@@ -0,0 +1,206 @@
+// MESSAGE OPTICAL_FLOW PACKING
+
+#define MAVLINK_MSG_ID_OPTICAL_FLOW 100
+
+typedef struct __mavlink_optical_flow_t 
+{
+	uint64_t time; ///< Timestamp (UNIX)
+	uint8_t sensor_id; ///< Sensor ID
+	int16_t flow_x; ///< Flow in pixels in x-sensor direction
+	int16_t flow_y; ///< Flow in pixels in y-sensor direction
+	uint8_t quality; ///< Optical flow quality / confidence. 0: bad, 255: maximum quality
+	float ground_distance; ///< Ground distance in meters
+
+} mavlink_optical_flow_t;
+
+
+
+/**
+ * @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 Timestamp (UNIX)
+ * @param sensor_id Sensor ID
+ * @param flow_x Flow in pixels in x-sensor direction
+ * @param flow_y Flow in pixels in y-sensor direction
+ * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
+ * @param ground_distance Ground distance in meters
+ * @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, uint8_t sensor_id, int16_t flow_x, int16_t flow_y, uint8_t quality, float ground_distance)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW;
+
+	i += put_uint64_t_by_index(time, i, msg->payload); // Timestamp (UNIX)
+	i += put_uint8_t_by_index(sensor_id, i, msg->payload); // Sensor ID
+	i += put_int16_t_by_index(flow_x, i, msg->payload); // Flow in pixels in x-sensor direction
+	i += put_int16_t_by_index(flow_y, i, msg->payload); // Flow in pixels in y-sensor direction
+	i += put_uint8_t_by_index(quality, i, msg->payload); // Optical flow quality / confidence. 0: bad, 255: maximum quality
+	i += put_float_by_index(ground_distance, i, msg->payload); // Ground distance in meters
+
+	return mavlink_finalize_message(msg, system_id, component_id, i);
+}
+
+/**
+ * @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 chan The MAVLink channel this message was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param time Timestamp (UNIX)
+ * @param sensor_id Sensor ID
+ * @param flow_x Flow in pixels in x-sensor direction
+ * @param flow_y Flow in pixels in y-sensor direction
+ * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
+ * @param ground_distance Ground distance in meters
+ * @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, uint8_t sensor_id, int16_t flow_x, int16_t flow_y, uint8_t quality, float ground_distance)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW;
+
+	i += put_uint64_t_by_index(time, i, msg->payload); // Timestamp (UNIX)
+	i += put_uint8_t_by_index(sensor_id, i, msg->payload); // Sensor ID
+	i += put_int16_t_by_index(flow_x, i, msg->payload); // Flow in pixels in x-sensor direction
+	i += put_int16_t_by_index(flow_y, i, msg->payload); // Flow in pixels in y-sensor direction
+	i += put_uint8_t_by_index(quality, i, msg->payload); // Optical flow quality / confidence. 0: bad, 255: maximum quality
+	i += put_float_by_index(ground_distance, i, msg->payload); // Ground distance in meters
+
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
+}
+
+/**
+ * @brief Encode a optical_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 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, optical_flow->sensor_id, optical_flow->flow_x, optical_flow->flow_y, optical_flow->quality, optical_flow->ground_distance);
+}
+
+/**
+ * @brief Send a optical_flow message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param time Timestamp (UNIX)
+ * @param sensor_id Sensor ID
+ * @param flow_x Flow in pixels in x-sensor direction
+ * @param flow_y Flow in pixels in y-sensor direction
+ * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
+ * @param ground_distance Ground distance in meters
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_optical_flow_send(mavlink_channel_t chan, uint64_t time, uint8_t sensor_id, int16_t flow_x, int16_t flow_y, uint8_t quality, float ground_distance)
+{
+	mavlink_message_t msg;
+	mavlink_msg_optical_flow_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, time, sensor_id, flow_x, flow_y, quality, ground_distance);
+	mavlink_send_uart(chan, &msg);
+}
+
+#endif
+// MESSAGE OPTICAL_FLOW UNPACKING
+
+/**
+ * @brief Get field time from optical_flow message
+ *
+ * @return Timestamp (UNIX)
+ */
+static inline uint64_t mavlink_msg_optical_flow_get_time(const mavlink_message_t* msg)
+{
+	generic_64bit r;
+	r.b[7] = (msg->payload)[0];
+	r.b[6] = (msg->payload)[1];
+	r.b[5] = (msg->payload)[2];
+	r.b[4] = (msg->payload)[3];
+	r.b[3] = (msg->payload)[4];
+	r.b[2] = (msg->payload)[5];
+	r.b[1] = (msg->payload)[6];
+	r.b[0] = (msg->payload)[7];
+	return (uint64_t)r.ll;
+}
+
+/**
+ * @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 (uint8_t)(msg->payload+sizeof(uint64_t))[0];
+}
+
+/**
+ * @brief Get field flow_x from optical_flow message
+ *
+ * @return Flow in pixels in x-sensor direction
+ */
+static inline int16_t mavlink_msg_optical_flow_get_flow_x(const mavlink_message_t* msg)
+{
+	generic_16bit r;
+	r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[0];
+	r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[1];
+	return (int16_t)r.s;
+}
+
+/**
+ * @brief Get field flow_y from optical_flow message
+ *
+ * @return Flow in pixels in y-sensor direction
+ */
+static inline int16_t mavlink_msg_optical_flow_get_flow_y(const mavlink_message_t* msg)
+{
+	generic_16bit r;
+	r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int16_t))[0];
+	r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int16_t))[1];
+	return (int16_t)r.s;
+}
+
+/**
+ * @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 (uint8_t)(msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int16_t)+sizeof(int16_t))[0];
+}
+
+/**
+ * @brief Get field ground_distance from optical_flow message
+ *
+ * @return Ground distance in meters
+ */
+static inline float mavlink_msg_optical_flow_get_ground_distance(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint8_t))[0];
+	r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint8_t))[1];
+	r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint8_t))[2];
+	r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint8_t))[3];
+	return (float)r.f;
+}
+
+/**
+ * @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)
+{
+	optical_flow->time = mavlink_msg_optical_flow_get_time(msg);
+	optical_flow->sensor_id = mavlink_msg_optical_flow_get_sensor_id(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->quality = mavlink_msg_optical_flow_get_quality(msg);
+	optical_flow->ground_distance = mavlink_msg_optical_flow_get_ground_distance(msg);
+}