[324] | 1 | // MESSAGE OPTICAL_FLOW PACKING
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| 2 |
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| 3 | #define MAVLINK_MSG_ID_OPTICAL_FLOW 100
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| 4 |
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| 5 | typedef struct MAVLINK_PACKED __mavlink_optical_flow_t
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| 6 | {
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| 7 | uint64_t time_usec; /*< Timestamp (UNIX)*/
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| 8 | float flow_comp_m_x; /*< Flow in meters in x-sensor direction, angular-speed compensated*/
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| 9 | float flow_comp_m_y; /*< Flow in meters in y-sensor direction, angular-speed compensated*/
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| 10 | float ground_distance; /*< Ground distance in meters. Positive value: distance known. Negative value: Unknown distance*/
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| 11 | int16_t flow_x; /*< Flow in pixels * 10 in x-sensor direction (dezi-pixels)*/
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| 12 | int16_t flow_y; /*< Flow in pixels * 10 in y-sensor direction (dezi-pixels)*/
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| 13 | uint8_t sensor_id; /*< Sensor ID*/
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| 14 | uint8_t quality; /*< Optical flow quality / confidence. 0: bad, 255: maximum quality*/
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| 15 | } mavlink_optical_flow_t;
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| 16 |
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| 17 | #define MAVLINK_MSG_ID_OPTICAL_FLOW_LEN 26
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| 18 | #define MAVLINK_MSG_ID_OPTICAL_FLOW_MIN_LEN 26
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| 19 | #define MAVLINK_MSG_ID_100_LEN 26
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| 20 | #define MAVLINK_MSG_ID_100_MIN_LEN 26
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| 21 |
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| 22 | #define MAVLINK_MSG_ID_OPTICAL_FLOW_CRC 175
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| 23 | #define MAVLINK_MSG_ID_100_CRC 175
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| 24 |
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| 25 |
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| 26 |
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| 27 | #if MAVLINK_COMMAND_24BIT
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| 28 | #define MAVLINK_MESSAGE_INFO_OPTICAL_FLOW { \
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| 29 | 100, \
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| 30 | "OPTICAL_FLOW", \
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| 31 | 8, \
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| 32 | { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_optical_flow_t, time_usec) }, \
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| 33 | { "flow_comp_m_x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_optical_flow_t, flow_comp_m_x) }, \
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| 34 | { "flow_comp_m_y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_optical_flow_t, flow_comp_m_y) }, \
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| 35 | { "ground_distance", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_optical_flow_t, ground_distance) }, \
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| 36 | { "flow_x", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_optical_flow_t, flow_x) }, \
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| 37 | { "flow_y", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_optical_flow_t, flow_y) }, \
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| 38 | { "sensor_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_optical_flow_t, sensor_id) }, \
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| 39 | { "quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 25, offsetof(mavlink_optical_flow_t, quality) }, \
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| 40 | } \
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| 41 | }
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| 42 | #else
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| 43 | #define MAVLINK_MESSAGE_INFO_OPTICAL_FLOW { \
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| 44 | "OPTICAL_FLOW", \
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| 45 | 8, \
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| 46 | { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_optical_flow_t, time_usec) }, \
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| 47 | { "flow_comp_m_x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_optical_flow_t, flow_comp_m_x) }, \
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| 48 | { "flow_comp_m_y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_optical_flow_t, flow_comp_m_y) }, \
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| 49 | { "ground_distance", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_optical_flow_t, ground_distance) }, \
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| 50 | { "flow_x", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_optical_flow_t, flow_x) }, \
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| 51 | { "flow_y", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_optical_flow_t, flow_y) }, \
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| 52 | { "sensor_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_optical_flow_t, sensor_id) }, \
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| 53 | { "quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 25, offsetof(mavlink_optical_flow_t, quality) }, \
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| 54 | } \
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| 55 | }
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| 56 | #endif
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| 57 |
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| 58 | /**
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| 59 | * @brief Pack a optical_flow message
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| 60 | * @param system_id ID of this system
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| 61 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 62 | * @param msg The MAVLink message to compress the data into
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| 63 | *
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| 64 | * @param time_usec Timestamp (UNIX)
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| 65 | * @param sensor_id Sensor ID
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| 66 | * @param flow_x Flow in pixels * 10 in x-sensor direction (dezi-pixels)
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| 67 | * @param flow_y Flow in pixels * 10 in y-sensor direction (dezi-pixels)
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| 68 | * @param flow_comp_m_x Flow in meters in x-sensor direction, angular-speed compensated
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| 69 | * @param flow_comp_m_y Flow in meters in y-sensor direction, angular-speed compensated
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| 70 | * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
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| 71 | * @param ground_distance Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
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| 72 | * @return length of the message in bytes (excluding serial stream start sign)
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| 73 | */
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| 74 | static inline uint16_t mavlink_msg_optical_flow_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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| 75 | 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)
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| 76 | {
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| 77 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 78 | char buf[MAVLINK_MSG_ID_OPTICAL_FLOW_LEN];
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| 79 | _mav_put_uint64_t(buf, 0, time_usec);
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| 80 | _mav_put_float(buf, 8, flow_comp_m_x);
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| 81 | _mav_put_float(buf, 12, flow_comp_m_y);
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| 82 | _mav_put_float(buf, 16, ground_distance);
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| 83 | _mav_put_int16_t(buf, 20, flow_x);
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| 84 | _mav_put_int16_t(buf, 22, flow_y);
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| 85 | _mav_put_uint8_t(buf, 24, sensor_id);
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| 86 | _mav_put_uint8_t(buf, 25, quality);
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| 87 |
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| 88 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
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| 89 | #else
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| 90 | mavlink_optical_flow_t packet;
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| 91 | packet.time_usec = time_usec;
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| 92 | packet.flow_comp_m_x = flow_comp_m_x;
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| 93 | packet.flow_comp_m_y = flow_comp_m_y;
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| 94 | packet.ground_distance = ground_distance;
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| 95 | packet.flow_x = flow_x;
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| 96 | packet.flow_y = flow_y;
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| 97 | packet.sensor_id = sensor_id;
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| 98 | packet.quality = quality;
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| 99 |
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| 100 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
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| 101 | #endif
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| 102 |
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| 103 | msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW;
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| 104 | return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_OPTICAL_FLOW_MIN_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_CRC);
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| 105 | }
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| 106 |
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| 107 | /**
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| 108 | * @brief Pack a optical_flow message on a channel
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| 109 | * @param system_id ID of this system
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| 110 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 111 | * @param chan The MAVLink channel this message will be sent over
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| 112 | * @param msg The MAVLink message to compress the data into
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| 113 | * @param time_usec Timestamp (UNIX)
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| 114 | * @param sensor_id Sensor ID
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| 115 | * @param flow_x Flow in pixels * 10 in x-sensor direction (dezi-pixels)
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| 116 | * @param flow_y Flow in pixels * 10 in y-sensor direction (dezi-pixels)
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| 117 | * @param flow_comp_m_x Flow in meters in x-sensor direction, angular-speed compensated
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| 118 | * @param flow_comp_m_y Flow in meters in y-sensor direction, angular-speed compensated
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| 119 | * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
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| 120 | * @param ground_distance Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
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| 121 | * @return length of the message in bytes (excluding serial stream start sign)
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| 122 | */
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| 123 | static inline uint16_t mavlink_msg_optical_flow_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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| 124 | mavlink_message_t* msg,
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| 125 | 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)
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| 126 | {
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| 127 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 128 | char buf[MAVLINK_MSG_ID_OPTICAL_FLOW_LEN];
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| 129 | _mav_put_uint64_t(buf, 0, time_usec);
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| 130 | _mav_put_float(buf, 8, flow_comp_m_x);
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| 131 | _mav_put_float(buf, 12, flow_comp_m_y);
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| 132 | _mav_put_float(buf, 16, ground_distance);
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| 133 | _mav_put_int16_t(buf, 20, flow_x);
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| 134 | _mav_put_int16_t(buf, 22, flow_y);
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| 135 | _mav_put_uint8_t(buf, 24, sensor_id);
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| 136 | _mav_put_uint8_t(buf, 25, quality);
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| 137 |
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| 138 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
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| 139 | #else
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| 140 | mavlink_optical_flow_t packet;
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| 141 | packet.time_usec = time_usec;
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| 142 | packet.flow_comp_m_x = flow_comp_m_x;
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| 143 | packet.flow_comp_m_y = flow_comp_m_y;
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| 144 | packet.ground_distance = ground_distance;
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| 145 | packet.flow_x = flow_x;
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| 146 | packet.flow_y = flow_y;
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| 147 | packet.sensor_id = sensor_id;
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| 148 | packet.quality = quality;
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| 149 |
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| 150 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
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| 151 | #endif
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| 152 |
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| 153 | msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW;
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| 154 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_OPTICAL_FLOW_MIN_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_CRC);
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| 155 | }
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| 156 |
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| 157 | /**
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| 158 | * @brief Encode a optical_flow struct
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| 159 | *
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| 160 | * @param system_id ID of this system
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| 161 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 162 | * @param msg The MAVLink message to compress the data into
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| 163 | * @param optical_flow C-struct to read the message contents from
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| 164 | */
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| 165 | 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)
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| 166 | {
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| 167 | 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);
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| 168 | }
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| 169 |
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| 170 | /**
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| 171 | * @brief Encode a optical_flow struct on a channel
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| 172 | *
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| 173 | * @param system_id ID of this system
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| 174 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 175 | * @param chan The MAVLink channel this message will be sent over
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| 176 | * @param msg The MAVLink message to compress the data into
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| 177 | * @param optical_flow C-struct to read the message contents from
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| 178 | */
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| 179 | 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)
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| 180 | {
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| 181 | 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);
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| 182 | }
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| 183 |
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| 184 | /**
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| 185 | * @brief Send a optical_flow message
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| 186 | * @param chan MAVLink channel to send the message
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| 187 | *
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| 188 | * @param time_usec Timestamp (UNIX)
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| 189 | * @param sensor_id Sensor ID
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| 190 | * @param flow_x Flow in pixels * 10 in x-sensor direction (dezi-pixels)
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| 191 | * @param flow_y Flow in pixels * 10 in y-sensor direction (dezi-pixels)
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| 192 | * @param flow_comp_m_x Flow in meters in x-sensor direction, angular-speed compensated
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| 193 | * @param flow_comp_m_y Flow in meters in y-sensor direction, angular-speed compensated
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| 194 | * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
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| 195 | * @param ground_distance Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
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| 196 | */
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| 197 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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| 198 |
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| 199 | 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)
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| 200 | {
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| 201 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 202 | char buf[MAVLINK_MSG_ID_OPTICAL_FLOW_LEN];
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| 203 | _mav_put_uint64_t(buf, 0, time_usec);
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| 204 | _mav_put_float(buf, 8, flow_comp_m_x);
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| 205 | _mav_put_float(buf, 12, flow_comp_m_y);
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| 206 | _mav_put_float(buf, 16, ground_distance);
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| 207 | _mav_put_int16_t(buf, 20, flow_x);
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| 208 | _mav_put_int16_t(buf, 22, flow_y);
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| 209 | _mav_put_uint8_t(buf, 24, sensor_id);
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| 210 | _mav_put_uint8_t(buf, 25, quality);
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| 211 |
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| 212 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, buf, MAVLINK_MSG_ID_OPTICAL_FLOW_MIN_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_CRC);
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| 213 | #else
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| 214 | mavlink_optical_flow_t packet;
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| 215 | packet.time_usec = time_usec;
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| 216 | packet.flow_comp_m_x = flow_comp_m_x;
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| 217 | packet.flow_comp_m_y = flow_comp_m_y;
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| 218 | packet.ground_distance = ground_distance;
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| 219 | packet.flow_x = flow_x;
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| 220 | packet.flow_y = flow_y;
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| 221 | packet.sensor_id = sensor_id;
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| 222 | packet.quality = quality;
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| 223 |
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| 224 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, (const char *)&packet, MAVLINK_MSG_ID_OPTICAL_FLOW_MIN_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_CRC);
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| 225 | #endif
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| 226 | }
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| 227 |
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| 228 | /**
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| 229 | * @brief Send a optical_flow message
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| 230 | * @param chan MAVLink channel to send the message
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| 231 | * @param struct The MAVLink struct to serialize
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| 232 | */
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| 233 | static inline void mavlink_msg_optical_flow_send_struct(mavlink_channel_t chan, const mavlink_optical_flow_t* optical_flow)
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| 234 | {
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| 235 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 236 | mavlink_msg_optical_flow_send(chan, 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);
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| 237 | #else
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| 238 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, (const char *)optical_flow, MAVLINK_MSG_ID_OPTICAL_FLOW_MIN_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_CRC);
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| 239 | #endif
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| 240 | }
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| 241 |
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| 242 | #if MAVLINK_MSG_ID_OPTICAL_FLOW_LEN <= MAVLINK_MAX_PAYLOAD_LEN
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| 243 | /*
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| 244 | This varient of _send() can be used to save stack space by re-using
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| 245 | memory from the receive buffer. The caller provides a
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| 246 | mavlink_message_t which is the size of a full mavlink message. This
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| 247 | is usually the receive buffer for the channel, and allows a reply to an
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| 248 | incoming message with minimum stack space usage.
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| 249 | */
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| 250 | static inline void mavlink_msg_optical_flow_send_buf(mavlink_message_t *msgbuf, 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)
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| 251 | {
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| 252 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 253 | char *buf = (char *)msgbuf;
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| 254 | _mav_put_uint64_t(buf, 0, time_usec);
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| 255 | _mav_put_float(buf, 8, flow_comp_m_x);
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| 256 | _mav_put_float(buf, 12, flow_comp_m_y);
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| 257 | _mav_put_float(buf, 16, ground_distance);
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| 258 | _mav_put_int16_t(buf, 20, flow_x);
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| 259 | _mav_put_int16_t(buf, 22, flow_y);
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| 260 | _mav_put_uint8_t(buf, 24, sensor_id);
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| 261 | _mav_put_uint8_t(buf, 25, quality);
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| 262 |
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| 263 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, buf, MAVLINK_MSG_ID_OPTICAL_FLOW_MIN_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_CRC);
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| 264 | #else
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| 265 | mavlink_optical_flow_t *packet = (mavlink_optical_flow_t *)msgbuf;
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| 266 | packet->time_usec = time_usec;
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| 267 | packet->flow_comp_m_x = flow_comp_m_x;
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| 268 | packet->flow_comp_m_y = flow_comp_m_y;
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| 269 | packet->ground_distance = ground_distance;
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| 270 | packet->flow_x = flow_x;
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| 271 | packet->flow_y = flow_y;
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| 272 | packet->sensor_id = sensor_id;
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| 273 | packet->quality = quality;
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| 274 |
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| 275 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, (const char *)packet, MAVLINK_MSG_ID_OPTICAL_FLOW_MIN_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_CRC);
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| 276 | #endif
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| 277 | }
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| 278 | #endif
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| 279 |
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| 280 | #endif
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| 281 |
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| 282 | // MESSAGE OPTICAL_FLOW UNPACKING
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| 283 |
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| 284 |
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| 285 | /**
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| 286 | * @brief Get field time_usec from optical_flow message
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| 287 | *
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| 288 | * @return Timestamp (UNIX)
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| 289 | */
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| 290 | static inline uint64_t mavlink_msg_optical_flow_get_time_usec(const mavlink_message_t* msg)
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| 291 | {
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| 292 | return _MAV_RETURN_uint64_t(msg, 0);
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| 293 | }
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| 294 |
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| 295 | /**
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| 296 | * @brief Get field sensor_id from optical_flow message
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| 297 | *
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| 298 | * @return Sensor ID
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| 299 | */
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| 300 | static inline uint8_t mavlink_msg_optical_flow_get_sensor_id(const mavlink_message_t* msg)
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| 301 | {
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| 302 | return _MAV_RETURN_uint8_t(msg, 24);
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| 303 | }
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| 304 |
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| 305 | /**
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| 306 | * @brief Get field flow_x from optical_flow message
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| 307 | *
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| 308 | * @return Flow in pixels * 10 in x-sensor direction (dezi-pixels)
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| 309 | */
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| 310 | static inline int16_t mavlink_msg_optical_flow_get_flow_x(const mavlink_message_t* msg)
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| 311 | {
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| 312 | return _MAV_RETURN_int16_t(msg, 20);
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| 313 | }
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| 314 |
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| 315 | /**
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| 316 | * @brief Get field flow_y from optical_flow message
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| 317 | *
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| 318 | * @return Flow in pixels * 10 in y-sensor direction (dezi-pixels)
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| 319 | */
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| 320 | static inline int16_t mavlink_msg_optical_flow_get_flow_y(const mavlink_message_t* msg)
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| 321 | {
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| 322 | return _MAV_RETURN_int16_t(msg, 22);
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| 323 | }
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| 324 |
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| 325 | /**
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| 326 | * @brief Get field flow_comp_m_x from optical_flow message
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| 327 | *
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| 328 | * @return Flow in meters in x-sensor direction, angular-speed compensated
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| 329 | */
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| 330 | static inline float mavlink_msg_optical_flow_get_flow_comp_m_x(const mavlink_message_t* msg)
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| 331 | {
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| 332 | return _MAV_RETURN_float(msg, 8);
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| 333 | }
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| 334 |
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| 335 | /**
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| 336 | * @brief Get field flow_comp_m_y from optical_flow message
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| 337 | *
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| 338 | * @return Flow in meters in y-sensor direction, angular-speed compensated
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| 339 | */
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| 340 | static inline float mavlink_msg_optical_flow_get_flow_comp_m_y(const mavlink_message_t* msg)
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| 341 | {
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| 342 | return _MAV_RETURN_float(msg, 12);
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| 343 | }
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| 344 |
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| 345 | /**
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| 346 | * @brief Get field quality from optical_flow message
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| 347 | *
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| 348 | * @return Optical flow quality / confidence. 0: bad, 255: maximum quality
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| 349 | */
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| 350 | static inline uint8_t mavlink_msg_optical_flow_get_quality(const mavlink_message_t* msg)
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| 351 | {
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| 352 | return _MAV_RETURN_uint8_t(msg, 25);
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| 353 | }
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| 354 |
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| 355 | /**
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| 356 | * @brief Get field ground_distance from optical_flow message
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| 357 | *
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| 358 | * @return Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
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| 359 | */
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| 360 | static inline float mavlink_msg_optical_flow_get_ground_distance(const mavlink_message_t* msg)
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| 361 | {
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| 362 | return _MAV_RETURN_float(msg, 16);
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| 363 | }
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| 364 |
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| 365 | /**
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| 366 | * @brief Decode a optical_flow message into a struct
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| 367 | *
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| 368 | * @param msg The message to decode
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| 369 | * @param optical_flow C-struct to decode the message contents into
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| 370 | */
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| 371 | static inline void mavlink_msg_optical_flow_decode(const mavlink_message_t* msg, mavlink_optical_flow_t* optical_flow)
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| 372 | {
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| 373 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 374 | optical_flow->time_usec = mavlink_msg_optical_flow_get_time_usec(msg);
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| 375 | optical_flow->flow_comp_m_x = mavlink_msg_optical_flow_get_flow_comp_m_x(msg);
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| 376 | optical_flow->flow_comp_m_y = mavlink_msg_optical_flow_get_flow_comp_m_y(msg);
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| 377 | optical_flow->ground_distance = mavlink_msg_optical_flow_get_ground_distance(msg);
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| 378 | optical_flow->flow_x = mavlink_msg_optical_flow_get_flow_x(msg);
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| 379 | optical_flow->flow_y = mavlink_msg_optical_flow_get_flow_y(msg);
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| 380 | optical_flow->sensor_id = mavlink_msg_optical_flow_get_sensor_id(msg);
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| 381 | optical_flow->quality = mavlink_msg_optical_flow_get_quality(msg);
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| 382 | #else
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| 383 | uint8_t len = msg->len < MAVLINK_MSG_ID_OPTICAL_FLOW_LEN? msg->len : MAVLINK_MSG_ID_OPTICAL_FLOW_LEN;
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| 384 | memset(optical_flow, 0, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
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| 385 | memcpy(optical_flow, _MAV_PAYLOAD(msg), len);
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| 386 | #endif
|
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| 387 | }
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