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
Diff: MAVlink/include/common/mavlink_msg_optical_flow.h
- Revision:
- 0:a6a169de725f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MAVlink/include/common/mavlink_msg_optical_flow.h Mon May 27 13:26:03 2013 +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); +}