Michael Shimniok / Mbed 2 deprecated DataBus

Code for autonomous rover for Sparkfun AVC. DataBus won 3rd in 2012 and the same code was used on Troubled Child, a 1986 Jeep Grand Wagoneer to win 1st in 2014.

Dependencies:   mbed Watchdog SDFileSystem DigoleSerialDisp

MAVlink/include/common/mavlink_msg_optical_flow.h@25:bb5356402687, 2018-11-30 (annotated)

Committer:
shimniok
Date:
Fri Nov 30 16:11:53 2018 +0000
Revision:
25:bb5356402687
Parent:
0:a6a169de725f 
Initial publish of revised version.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 0:a6a169de725f 1 // MESSAGE OPTICAL_FLOW PACKING
shimniok 0:a6a169de725f 2
shimniok 0:a6a169de725f 3 #define MAVLINK_MSG_ID_OPTICAL_FLOW 100
shimniok 0:a6a169de725f 4
shimniok 0:a6a169de725f 5 typedef struct __mavlink_optical_flow_t
shimniok 0:a6a169de725f 6 {
shimniok 0:a6a169de725f 7 uint64_t time; ///< Timestamp (UNIX)
shimniok 0:a6a169de725f 8 uint8_t sensor_id; ///< Sensor ID
shimniok 0:a6a169de725f 9 int16_t flow_x; ///< Flow in pixels in x-sensor direction
shimniok 0:a6a169de725f 10 int16_t flow_y; ///< Flow in pixels in y-sensor direction
shimniok 0:a6a169de725f 11 uint8_t quality; ///< Optical flow quality / confidence. 0: bad, 255: maximum quality
shimniok 0:a6a169de725f 12 float ground_distance; ///< Ground distance in meters
shimniok 0:a6a169de725f 13
shimniok 0:a6a169de725f 14 } mavlink_optical_flow_t;
shimniok 0:a6a169de725f 15
shimniok 0:a6a169de725f 16
shimniok 0:a6a169de725f 17
shimniok 0:a6a169de725f 18 /**
shimniok 0:a6a169de725f 19 * @brief Pack a optical_flow message
shimniok 0:a6a169de725f 20 * @param system_id ID of this system
shimniok 0:a6a169de725f 21 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 22 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 23 *
shimniok 0:a6a169de725f 24 * @param time Timestamp (UNIX)
shimniok 0:a6a169de725f 25 * @param sensor_id Sensor ID
shimniok 0:a6a169de725f 26 * @param flow_x Flow in pixels in x-sensor direction
shimniok 0:a6a169de725f 27 * @param flow_y Flow in pixels in y-sensor direction
shimniok 0:a6a169de725f 28 * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
shimniok 0:a6a169de725f 29 * @param ground_distance Ground distance in meters
shimniok 0:a6a169de725f 30 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 31 */
shimniok 0:a6a169de725f 32 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)
shimniok 0:a6a169de725f 33 {
shimniok 0:a6a169de725f 34 uint16_t i = 0;
shimniok 0:a6a169de725f 35 msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW;
shimniok 0:a6a169de725f 36
shimniok 0:a6a169de725f 37 i += put_uint64_t_by_index(time, i, msg->payload); // Timestamp (UNIX)
shimniok 0:a6a169de725f 38 i += put_uint8_t_by_index(sensor_id, i, msg->payload); // Sensor ID
shimniok 0:a6a169de725f 39 i += put_int16_t_by_index(flow_x, i, msg->payload); // Flow in pixels in x-sensor direction
shimniok 0:a6a169de725f 40 i += put_int16_t_by_index(flow_y, i, msg->payload); // Flow in pixels in y-sensor direction
shimniok 0:a6a169de725f 41 i += put_uint8_t_by_index(quality, i, msg->payload); // Optical flow quality / confidence. 0: bad, 255: maximum quality
shimniok 0:a6a169de725f 42 i += put_float_by_index(ground_distance, i, msg->payload); // Ground distance in meters
shimniok 0:a6a169de725f 43
shimniok 0:a6a169de725f 44 return mavlink_finalize_message(msg, system_id, component_id, i);
shimniok 0:a6a169de725f 45 }
shimniok 0:a6a169de725f 46
shimniok 0:a6a169de725f 47 /**
shimniok 0:a6a169de725f 48 * @brief Pack a optical_flow message
shimniok 0:a6a169de725f 49 * @param system_id ID of this system
shimniok 0:a6a169de725f 50 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 51 * @param chan The MAVLink channel this message was sent over
shimniok 0:a6a169de725f 52 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 53 * @param time Timestamp (UNIX)
shimniok 0:a6a169de725f 54 * @param sensor_id Sensor ID
shimniok 0:a6a169de725f 55 * @param flow_x Flow in pixels in x-sensor direction
shimniok 0:a6a169de725f 56 * @param flow_y Flow in pixels in y-sensor direction
shimniok 0:a6a169de725f 57 * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
shimniok 0:a6a169de725f 58 * @param ground_distance Ground distance in meters
shimniok 0:a6a169de725f 59 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 60 */
shimniok 0:a6a169de725f 61 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)
shimniok 0:a6a169de725f 62 {
shimniok 0:a6a169de725f 63 uint16_t i = 0;
shimniok 0:a6a169de725f 64 msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW;
shimniok 0:a6a169de725f 65
shimniok 0:a6a169de725f 66 i += put_uint64_t_by_index(time, i, msg->payload); // Timestamp (UNIX)
shimniok 0:a6a169de725f 67 i += put_uint8_t_by_index(sensor_id, i, msg->payload); // Sensor ID
shimniok 0:a6a169de725f 68 i += put_int16_t_by_index(flow_x, i, msg->payload); // Flow in pixels in x-sensor direction
shimniok 0:a6a169de725f 69 i += put_int16_t_by_index(flow_y, i, msg->payload); // Flow in pixels in y-sensor direction
shimniok 0:a6a169de725f 70 i += put_uint8_t_by_index(quality, i, msg->payload); // Optical flow quality / confidence. 0: bad, 255: maximum quality
shimniok 0:a6a169de725f 71 i += put_float_by_index(ground_distance, i, msg->payload); // Ground distance in meters
shimniok 0:a6a169de725f 72
shimniok 0:a6a169de725f 73 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
shimniok 0:a6a169de725f 74 }
shimniok 0:a6a169de725f 75
shimniok 0:a6a169de725f 76 /**
shimniok 0:a6a169de725f 77 * @brief Encode a optical_flow struct into a message
shimniok 0:a6a169de725f 78 *
shimniok 0:a6a169de725f 79 * @param system_id ID of this system
shimniok 0:a6a169de725f 80 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 81 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 82 * @param optical_flow C-struct to read the message contents from
shimniok 0:a6a169de725f 83 */
shimniok 0:a6a169de725f 84 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)
shimniok 0:a6a169de725f 85 {
shimniok 0:a6a169de725f 86 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);
shimniok 0:a6a169de725f 87 }
shimniok 0:a6a169de725f 88
shimniok 0:a6a169de725f 89 /**
shimniok 0:a6a169de725f 90 * @brief Send a optical_flow message
shimniok 0:a6a169de725f 91 * @param chan MAVLink channel to send the message
shimniok 0:a6a169de725f 92 *
shimniok 0:a6a169de725f 93 * @param time Timestamp (UNIX)
shimniok 0:a6a169de725f 94 * @param sensor_id Sensor ID
shimniok 0:a6a169de725f 95 * @param flow_x Flow in pixels in x-sensor direction
shimniok 0:a6a169de725f 96 * @param flow_y Flow in pixels in y-sensor direction
shimniok 0:a6a169de725f 97 * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
shimniok 0:a6a169de725f 98 * @param ground_distance Ground distance in meters
shimniok 0:a6a169de725f 99 */
shimniok 0:a6a169de725f 100 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
shimniok 0:a6a169de725f 101
shimniok 0:a6a169de725f 102 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)
shimniok 0:a6a169de725f 103 {
shimniok 0:a6a169de725f 104 mavlink_message_t msg;
shimniok 0:a6a169de725f 105 mavlink_msg_optical_flow_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, time, sensor_id, flow_x, flow_y, quality, ground_distance);
shimniok 0:a6a169de725f 106 mavlink_send_uart(chan, &msg);
shimniok 0:a6a169de725f 107 }
shimniok 0:a6a169de725f 108
shimniok 0:a6a169de725f 109 #endif
shimniok 0:a6a169de725f 110 // MESSAGE OPTICAL_FLOW UNPACKING
shimniok 0:a6a169de725f 111
shimniok 0:a6a169de725f 112 /**
shimniok 0:a6a169de725f 113 * @brief Get field time from optical_flow message
shimniok 0:a6a169de725f 114 *
shimniok 0:a6a169de725f 115 * @return Timestamp (UNIX)
shimniok 0:a6a169de725f 116 */
shimniok 0:a6a169de725f 117 static inline uint64_t mavlink_msg_optical_flow_get_time(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 118 {
shimniok 0:a6a169de725f 119 generic_64bit r;
shimniok 0:a6a169de725f 120 r.b[7] = (msg->payload)[0];
shimniok 0:a6a169de725f 121 r.b[6] = (msg->payload)[1];
shimniok 0:a6a169de725f 122 r.b[5] = (msg->payload)[2];
shimniok 0:a6a169de725f 123 r.b[4] = (msg->payload)[3];
shimniok 0:a6a169de725f 124 r.b[3] = (msg->payload)[4];
shimniok 0:a6a169de725f 125 r.b[2] = (msg->payload)[5];
shimniok 0:a6a169de725f 126 r.b[1] = (msg->payload)[6];
shimniok 0:a6a169de725f 127 r.b[0] = (msg->payload)[7];
shimniok 0:a6a169de725f 128 return (uint64_t)r.ll;
shimniok 0:a6a169de725f 129 }
shimniok 0:a6a169de725f 130
shimniok 0:a6a169de725f 131 /**
shimniok 0:a6a169de725f 132 * @brief Get field sensor_id from optical_flow message
shimniok 0:a6a169de725f 133 *
shimniok 0:a6a169de725f 134 * @return Sensor ID
shimniok 0:a6a169de725f 135 */
shimniok 0:a6a169de725f 136 static inline uint8_t mavlink_msg_optical_flow_get_sensor_id(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 137 {
shimniok 0:a6a169de725f 138 return (uint8_t)(msg->payload+sizeof(uint64_t))[0];
shimniok 0:a6a169de725f 139 }
shimniok 0:a6a169de725f 140
shimniok 0:a6a169de725f 141 /**
shimniok 0:a6a169de725f 142 * @brief Get field flow_x from optical_flow message
shimniok 0:a6a169de725f 143 *
shimniok 0:a6a169de725f 144 * @return Flow in pixels in x-sensor direction
shimniok 0:a6a169de725f 145 */
shimniok 0:a6a169de725f 146 static inline int16_t mavlink_msg_optical_flow_get_flow_x(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 147 {
shimniok 0:a6a169de725f 148 generic_16bit r;
shimniok 0:a6a169de725f 149 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[0];
shimniok 0:a6a169de725f 150 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[1];
shimniok 0:a6a169de725f 151 return (int16_t)r.s;
shimniok 0:a6a169de725f 152 }
shimniok 0:a6a169de725f 153
shimniok 0:a6a169de725f 154 /**
shimniok 0:a6a169de725f 155 * @brief Get field flow_y from optical_flow message
shimniok 0:a6a169de725f 156 *
shimniok 0:a6a169de725f 157 * @return Flow in pixels in y-sensor direction
shimniok 0:a6a169de725f 158 */
shimniok 0:a6a169de725f 159 static inline int16_t mavlink_msg_optical_flow_get_flow_y(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 160 {
shimniok 0:a6a169de725f 161 generic_16bit r;
shimniok 0:a6a169de725f 162 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int16_t))[0];
shimniok 0:a6a169de725f 163 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int16_t))[1];
shimniok 0:a6a169de725f 164 return (int16_t)r.s;
shimniok 0:a6a169de725f 165 }
shimniok 0:a6a169de725f 166
shimniok 0:a6a169de725f 167 /**
shimniok 0:a6a169de725f 168 * @brief Get field quality from optical_flow message
shimniok 0:a6a169de725f 169 *
shimniok 0:a6a169de725f 170 * @return Optical flow quality / confidence. 0: bad, 255: maximum quality
shimniok 0:a6a169de725f 171 */
shimniok 0:a6a169de725f 172 static inline uint8_t mavlink_msg_optical_flow_get_quality(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 173 {
shimniok 0:a6a169de725f 174 return (uint8_t)(msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int16_t)+sizeof(int16_t))[0];
shimniok 0:a6a169de725f 175 }
shimniok 0:a6a169de725f 176
shimniok 0:a6a169de725f 177 /**
shimniok 0:a6a169de725f 178 * @brief Get field ground_distance from optical_flow message
shimniok 0:a6a169de725f 179 *
shimniok 0:a6a169de725f 180 * @return Ground distance in meters
shimniok 0:a6a169de725f 181 */
shimniok 0:a6a169de725f 182 static inline float mavlink_msg_optical_flow_get_ground_distance(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 183 {
shimniok 0:a6a169de725f 184 generic_32bit r;
shimniok 0:a6a169de725f 185 r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint8_t))[0];
shimniok 0:a6a169de725f 186 r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint8_t))[1];
shimniok 0:a6a169de725f 187 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint8_t))[2];
shimniok 0:a6a169de725f 188 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(uint8_t))[3];
shimniok 0:a6a169de725f 189 return (float)r.f;
shimniok 0:a6a169de725f 190 }
shimniok 0:a6a169de725f 191
shimniok 0:a6a169de725f 192 /**
shimniok 0:a6a169de725f 193 * @brief Decode a optical_flow message into a struct
shimniok 0:a6a169de725f 194 *
shimniok 0:a6a169de725f 195 * @param msg The message to decode
shimniok 0:a6a169de725f 196 * @param optical_flow C-struct to decode the message contents into
shimniok 0:a6a169de725f 197 */
shimniok 0:a6a169de725f 198 static inline void mavlink_msg_optical_flow_decode(const mavlink_message_t* msg, mavlink_optical_flow_t* optical_flow)
shimniok 0:a6a169de725f 199 {
shimniok 0:a6a169de725f 200 optical_flow->time = mavlink_msg_optical_flow_get_time(msg);
shimniok 0:a6a169de725f 201 optical_flow->sensor_id = mavlink_msg_optical_flow_get_sensor_id(msg);
shimniok 0:a6a169de725f 202 optical_flow->flow_x = mavlink_msg_optical_flow_get_flow_x(msg);
shimniok 0:a6a169de725f 203 optical_flow->flow_y = mavlink_msg_optical_flow_get_flow_y(msg);
shimniok 0:a6a169de725f 204 optical_flow->quality = mavlink_msg_optical_flow_get_quality(msg);
shimniok 0:a6a169de725f 205 optical_flow->ground_distance = mavlink_msg_optical_flow_get_ground_distance(msg);
shimniok 0:a6a169de725f 206 }