[324] | 1 | // MESSAGE OPTICAL_FLOW_RAD PACKING
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| 2 |
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| 3 | #define MAVLINK_MSG_ID_OPTICAL_FLOW_RAD 106
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| 4 |
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| 5 | typedef struct MAVLINK_PACKED __mavlink_optical_flow_rad_t
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| 6 | {
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| 7 | uint64_t time_usec; /*< Timestamp (microseconds, synced to UNIX time or since system boot)*/
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| 8 | uint32_t integration_time_us; /*< Integration time in microseconds. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.*/
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| 9 | float integrated_x; /*< Flow in radians around X axis (Sensor RH rotation about the X axis induces a positive flow. Sensor linear motion along the positive Y axis induces a negative flow.)*/
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| 10 | float integrated_y; /*< Flow in radians around Y axis (Sensor RH rotation about the Y axis induces a positive flow. Sensor linear motion along the positive X axis induces a positive flow.)*/
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| 11 | float integrated_xgyro; /*< RH rotation around X axis (rad)*/
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| 12 | float integrated_ygyro; /*< RH rotation around Y axis (rad)*/
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| 13 | float integrated_zgyro; /*< RH rotation around Z axis (rad)*/
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| 14 | uint32_t time_delta_distance_us; /*< Time in microseconds since the distance was sampled.*/
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| 15 | float distance; /*< Distance to the center of the flow field in meters. Positive value (including zero): distance known. Negative value: Unknown distance.*/
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| 16 | int16_t temperature; /*< Temperature * 100 in centi-degrees Celsius*/
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| 17 | uint8_t sensor_id; /*< Sensor ID*/
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| 18 | uint8_t quality; /*< Optical flow quality / confidence. 0: no valid flow, 255: maximum quality*/
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| 19 | } mavlink_optical_flow_rad_t;
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| 20 |
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| 21 | #define MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN 44
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| 22 | #define MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_MIN_LEN 44
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| 23 | #define MAVLINK_MSG_ID_106_LEN 44
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| 24 | #define MAVLINK_MSG_ID_106_MIN_LEN 44
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| 25 |
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| 26 | #define MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_CRC 138
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| 27 | #define MAVLINK_MSG_ID_106_CRC 138
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| 28 |
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| 29 |
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| 30 |
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| 31 | #if MAVLINK_COMMAND_24BIT
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| 32 | #define MAVLINK_MESSAGE_INFO_OPTICAL_FLOW_RAD { \
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| 33 | 106, \
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| 34 | "OPTICAL_FLOW_RAD", \
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| 35 | 12, \
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| 36 | { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_optical_flow_rad_t, time_usec) }, \
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| 37 | { "integration_time_us", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_optical_flow_rad_t, integration_time_us) }, \
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| 38 | { "integrated_x", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_optical_flow_rad_t, integrated_x) }, \
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| 39 | { "integrated_y", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_optical_flow_rad_t, integrated_y) }, \
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| 40 | { "integrated_xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_optical_flow_rad_t, integrated_xgyro) }, \
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| 41 | { "integrated_ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_optical_flow_rad_t, integrated_ygyro) }, \
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| 42 | { "integrated_zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_optical_flow_rad_t, integrated_zgyro) }, \
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| 43 | { "time_delta_distance_us", NULL, MAVLINK_TYPE_UINT32_T, 0, 32, offsetof(mavlink_optical_flow_rad_t, time_delta_distance_us) }, \
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| 44 | { "distance", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_optical_flow_rad_t, distance) }, \
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| 45 | { "temperature", NULL, MAVLINK_TYPE_INT16_T, 0, 40, offsetof(mavlink_optical_flow_rad_t, temperature) }, \
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| 46 | { "sensor_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 42, offsetof(mavlink_optical_flow_rad_t, sensor_id) }, \
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| 47 | { "quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 43, offsetof(mavlink_optical_flow_rad_t, quality) }, \
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| 48 | } \
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| 49 | }
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| 50 | #else
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| 51 | #define MAVLINK_MESSAGE_INFO_OPTICAL_FLOW_RAD { \
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| 52 | "OPTICAL_FLOW_RAD", \
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| 53 | 12, \
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| 54 | { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_optical_flow_rad_t, time_usec) }, \
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| 55 | { "integration_time_us", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_optical_flow_rad_t, integration_time_us) }, \
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| 56 | { "integrated_x", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_optical_flow_rad_t, integrated_x) }, \
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| 57 | { "integrated_y", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_optical_flow_rad_t, integrated_y) }, \
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| 58 | { "integrated_xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_optical_flow_rad_t, integrated_xgyro) }, \
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| 59 | { "integrated_ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_optical_flow_rad_t, integrated_ygyro) }, \
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| 60 | { "integrated_zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_optical_flow_rad_t, integrated_zgyro) }, \
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| 61 | { "time_delta_distance_us", NULL, MAVLINK_TYPE_UINT32_T, 0, 32, offsetof(mavlink_optical_flow_rad_t, time_delta_distance_us) }, \
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| 62 | { "distance", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_optical_flow_rad_t, distance) }, \
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| 63 | { "temperature", NULL, MAVLINK_TYPE_INT16_T, 0, 40, offsetof(mavlink_optical_flow_rad_t, temperature) }, \
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| 64 | { "sensor_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 42, offsetof(mavlink_optical_flow_rad_t, sensor_id) }, \
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| 65 | { "quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 43, offsetof(mavlink_optical_flow_rad_t, quality) }, \
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| 66 | } \
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| 67 | }
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| 68 | #endif
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| 69 |
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| 70 | /**
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| 71 | * @brief Pack a optical_flow_rad message
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| 72 | * @param system_id ID of this system
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| 73 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 74 | * @param msg The MAVLink message to compress the data into
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| 75 | *
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| 76 | * @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot)
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| 77 | * @param sensor_id Sensor ID
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| 78 | * @param integration_time_us Integration time in microseconds. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.
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| 79 | * @param integrated_x Flow in radians around X axis (Sensor RH rotation about the X axis induces a positive flow. Sensor linear motion along the positive Y axis induces a negative flow.)
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| 80 | * @param integrated_y Flow in radians around Y axis (Sensor RH rotation about the Y axis induces a positive flow. Sensor linear motion along the positive X axis induces a positive flow.)
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| 81 | * @param integrated_xgyro RH rotation around X axis (rad)
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| 82 | * @param integrated_ygyro RH rotation around Y axis (rad)
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| 83 | * @param integrated_zgyro RH rotation around Z axis (rad)
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| 84 | * @param temperature Temperature * 100 in centi-degrees Celsius
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| 85 | * @param quality Optical flow quality / confidence. 0: no valid flow, 255: maximum quality
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| 86 | * @param time_delta_distance_us Time in microseconds since the distance was sampled.
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| 87 | * @param distance Distance to the center of the flow field in meters. Positive value (including zero): distance known. Negative value: Unknown distance.
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| 88 | * @return length of the message in bytes (excluding serial stream start sign)
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| 89 | */
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| 90 | static inline uint16_t mavlink_msg_optical_flow_rad_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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| 91 | uint64_t time_usec, uint8_t sensor_id, uint32_t integration_time_us, float integrated_x, float integrated_y, float integrated_xgyro, float integrated_ygyro, float integrated_zgyro, int16_t temperature, uint8_t quality, uint32_t time_delta_distance_us, float distance)
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| 92 | {
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| 93 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 94 | char buf[MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN];
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| 95 | _mav_put_uint64_t(buf, 0, time_usec);
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| 96 | _mav_put_uint32_t(buf, 8, integration_time_us);
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| 97 | _mav_put_float(buf, 12, integrated_x);
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| 98 | _mav_put_float(buf, 16, integrated_y);
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| 99 | _mav_put_float(buf, 20, integrated_xgyro);
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| 100 | _mav_put_float(buf, 24, integrated_ygyro);
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| 101 | _mav_put_float(buf, 28, integrated_zgyro);
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| 102 | _mav_put_uint32_t(buf, 32, time_delta_distance_us);
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| 103 | _mav_put_float(buf, 36, distance);
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| 104 | _mav_put_int16_t(buf, 40, temperature);
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| 105 | _mav_put_uint8_t(buf, 42, sensor_id);
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| 106 | _mav_put_uint8_t(buf, 43, quality);
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| 107 |
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| 108 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN);
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| 109 | #else
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| 110 | mavlink_optical_flow_rad_t packet;
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| 111 | packet.time_usec = time_usec;
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| 112 | packet.integration_time_us = integration_time_us;
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| 113 | packet.integrated_x = integrated_x;
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| 114 | packet.integrated_y = integrated_y;
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| 115 | packet.integrated_xgyro = integrated_xgyro;
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| 116 | packet.integrated_ygyro = integrated_ygyro;
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| 117 | packet.integrated_zgyro = integrated_zgyro;
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| 118 | packet.time_delta_distance_us = time_delta_distance_us;
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| 119 | packet.distance = distance;
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| 120 | packet.temperature = temperature;
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| 121 | packet.sensor_id = sensor_id;
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| 122 | packet.quality = quality;
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| 123 |
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| 124 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN);
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| 125 | #endif
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| 126 |
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| 127 | msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW_RAD;
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| 128 | return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_MIN_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_CRC);
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| 129 | }
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| 130 |
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| 131 | /**
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| 132 | * @brief Pack a optical_flow_rad message on a channel
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| 133 | * @param system_id ID of this system
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| 134 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 135 | * @param chan The MAVLink channel this message will be sent over
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| 136 | * @param msg The MAVLink message to compress the data into
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| 137 | * @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot)
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| 138 | * @param sensor_id Sensor ID
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| 139 | * @param integration_time_us Integration time in microseconds. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.
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| 140 | * @param integrated_x Flow in radians around X axis (Sensor RH rotation about the X axis induces a positive flow. Sensor linear motion along the positive Y axis induces a negative flow.)
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| 141 | * @param integrated_y Flow in radians around Y axis (Sensor RH rotation about the Y axis induces a positive flow. Sensor linear motion along the positive X axis induces a positive flow.)
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| 142 | * @param integrated_xgyro RH rotation around X axis (rad)
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| 143 | * @param integrated_ygyro RH rotation around Y axis (rad)
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| 144 | * @param integrated_zgyro RH rotation around Z axis (rad)
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| 145 | * @param temperature Temperature * 100 in centi-degrees Celsius
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| 146 | * @param quality Optical flow quality / confidence. 0: no valid flow, 255: maximum quality
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| 147 | * @param time_delta_distance_us Time in microseconds since the distance was sampled.
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| 148 | * @param distance Distance to the center of the flow field in meters. Positive value (including zero): distance known. Negative value: Unknown distance.
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| 149 | * @return length of the message in bytes (excluding serial stream start sign)
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| 150 | */
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| 151 | static inline uint16_t mavlink_msg_optical_flow_rad_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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| 152 | mavlink_message_t* msg,
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| 153 | uint64_t time_usec,uint8_t sensor_id,uint32_t integration_time_us,float integrated_x,float integrated_y,float integrated_xgyro,float integrated_ygyro,float integrated_zgyro,int16_t temperature,uint8_t quality,uint32_t time_delta_distance_us,float distance)
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| 154 | {
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| 155 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 156 | char buf[MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN];
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| 157 | _mav_put_uint64_t(buf, 0, time_usec);
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| 158 | _mav_put_uint32_t(buf, 8, integration_time_us);
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| 159 | _mav_put_float(buf, 12, integrated_x);
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| 160 | _mav_put_float(buf, 16, integrated_y);
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| 161 | _mav_put_float(buf, 20, integrated_xgyro);
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| 162 | _mav_put_float(buf, 24, integrated_ygyro);
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| 163 | _mav_put_float(buf, 28, integrated_zgyro);
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| 164 | _mav_put_uint32_t(buf, 32, time_delta_distance_us);
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| 165 | _mav_put_float(buf, 36, distance);
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| 166 | _mav_put_int16_t(buf, 40, temperature);
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| 167 | _mav_put_uint8_t(buf, 42, sensor_id);
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| 168 | _mav_put_uint8_t(buf, 43, quality);
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| 169 |
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| 170 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN);
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| 171 | #else
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| 172 | mavlink_optical_flow_rad_t packet;
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| 173 | packet.time_usec = time_usec;
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| 174 | packet.integration_time_us = integration_time_us;
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| 175 | packet.integrated_x = integrated_x;
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| 176 | packet.integrated_y = integrated_y;
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| 177 | packet.integrated_xgyro = integrated_xgyro;
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| 178 | packet.integrated_ygyro = integrated_ygyro;
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| 179 | packet.integrated_zgyro = integrated_zgyro;
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| 180 | packet.time_delta_distance_us = time_delta_distance_us;
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| 181 | packet.distance = distance;
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| 182 | packet.temperature = temperature;
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| 183 | packet.sensor_id = sensor_id;
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| 184 | packet.quality = quality;
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| 185 |
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| 186 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN);
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| 187 | #endif
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| 188 |
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| 189 | msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW_RAD;
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| 190 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_MIN_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_CRC);
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| 191 | }
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| 192 |
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| 193 | /**
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| 194 | * @brief Encode a optical_flow_rad struct
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| 195 | *
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| 196 | * @param system_id ID of this system
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| 197 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 198 | * @param msg The MAVLink message to compress the data into
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| 199 | * @param optical_flow_rad C-struct to read the message contents from
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| 200 | */
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| 201 | static inline uint16_t mavlink_msg_optical_flow_rad_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_optical_flow_rad_t* optical_flow_rad)
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| 202 | {
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| 203 | return mavlink_msg_optical_flow_rad_pack(system_id, component_id, msg, optical_flow_rad->time_usec, optical_flow_rad->sensor_id, optical_flow_rad->integration_time_us, optical_flow_rad->integrated_x, optical_flow_rad->integrated_y, optical_flow_rad->integrated_xgyro, optical_flow_rad->integrated_ygyro, optical_flow_rad->integrated_zgyro, optical_flow_rad->temperature, optical_flow_rad->quality, optical_flow_rad->time_delta_distance_us, optical_flow_rad->distance);
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| 204 | }
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| 205 |
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| 206 | /**
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| 207 | * @brief Encode a optical_flow_rad struct on a channel
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| 208 | *
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| 209 | * @param system_id ID of this system
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| 210 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 211 | * @param chan The MAVLink channel this message will be sent over
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| 212 | * @param msg The MAVLink message to compress the data into
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| 213 | * @param optical_flow_rad C-struct to read the message contents from
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| 214 | */
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| 215 | static inline uint16_t mavlink_msg_optical_flow_rad_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_optical_flow_rad_t* optical_flow_rad)
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| 216 | {
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| 217 | return mavlink_msg_optical_flow_rad_pack_chan(system_id, component_id, chan, msg, optical_flow_rad->time_usec, optical_flow_rad->sensor_id, optical_flow_rad->integration_time_us, optical_flow_rad->integrated_x, optical_flow_rad->integrated_y, optical_flow_rad->integrated_xgyro, optical_flow_rad->integrated_ygyro, optical_flow_rad->integrated_zgyro, optical_flow_rad->temperature, optical_flow_rad->quality, optical_flow_rad->time_delta_distance_us, optical_flow_rad->distance);
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| 218 | }
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| 219 |
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| 220 | /**
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| 221 | * @brief Send a optical_flow_rad message
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| 222 | * @param chan MAVLink channel to send the message
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| 223 | *
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| 224 | * @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot)
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| 225 | * @param sensor_id Sensor ID
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| 226 | * @param integration_time_us Integration time in microseconds. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.
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| 227 | * @param integrated_x Flow in radians around X axis (Sensor RH rotation about the X axis induces a positive flow. Sensor linear motion along the positive Y axis induces a negative flow.)
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| 228 | * @param integrated_y Flow in radians around Y axis (Sensor RH rotation about the Y axis induces a positive flow. Sensor linear motion along the positive X axis induces a positive flow.)
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| 229 | * @param integrated_xgyro RH rotation around X axis (rad)
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| 230 | * @param integrated_ygyro RH rotation around Y axis (rad)
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| 231 | * @param integrated_zgyro RH rotation around Z axis (rad)
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| 232 | * @param temperature Temperature * 100 in centi-degrees Celsius
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| 233 | * @param quality Optical flow quality / confidence. 0: no valid flow, 255: maximum quality
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| 234 | * @param time_delta_distance_us Time in microseconds since the distance was sampled.
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| 235 | * @param distance Distance to the center of the flow field in meters. Positive value (including zero): distance known. Negative value: Unknown distance.
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| 236 | */
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| 237 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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| 238 |
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| 239 | static inline void mavlink_msg_optical_flow_rad_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t sensor_id, uint32_t integration_time_us, float integrated_x, float integrated_y, float integrated_xgyro, float integrated_ygyro, float integrated_zgyro, int16_t temperature, uint8_t quality, uint32_t time_delta_distance_us, float distance)
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| 240 | {
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| 241 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 242 | char buf[MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN];
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| 243 | _mav_put_uint64_t(buf, 0, time_usec);
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| 244 | _mav_put_uint32_t(buf, 8, integration_time_us);
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| 245 | _mav_put_float(buf, 12, integrated_x);
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| 246 | _mav_put_float(buf, 16, integrated_y);
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| 247 | _mav_put_float(buf, 20, integrated_xgyro);
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| 248 | _mav_put_float(buf, 24, integrated_ygyro);
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| 249 | _mav_put_float(buf, 28, integrated_zgyro);
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| 250 | _mav_put_uint32_t(buf, 32, time_delta_distance_us);
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| 251 | _mav_put_float(buf, 36, distance);
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| 252 | _mav_put_int16_t(buf, 40, temperature);
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| 253 | _mav_put_uint8_t(buf, 42, sensor_id);
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| 254 | _mav_put_uint8_t(buf, 43, quality);
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| 255 |
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| 256 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD, buf, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_MIN_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_CRC);
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| 257 | #else
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| 258 | mavlink_optical_flow_rad_t packet;
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| 259 | packet.time_usec = time_usec;
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| 260 | packet.integration_time_us = integration_time_us;
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| 261 | packet.integrated_x = integrated_x;
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| 262 | packet.integrated_y = integrated_y;
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| 263 | packet.integrated_xgyro = integrated_xgyro;
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| 264 | packet.integrated_ygyro = integrated_ygyro;
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| 265 | packet.integrated_zgyro = integrated_zgyro;
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| 266 | packet.time_delta_distance_us = time_delta_distance_us;
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| 267 | packet.distance = distance;
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| 268 | packet.temperature = temperature;
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| 269 | packet.sensor_id = sensor_id;
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| 270 | packet.quality = quality;
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| 271 |
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| 272 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD, (const char *)&packet, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_MIN_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_CRC);
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| 273 | #endif
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| 274 | }
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| 275 |
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| 276 | /**
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| 277 | * @brief Send a optical_flow_rad message
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| 278 | * @param chan MAVLink channel to send the message
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| 279 | * @param struct The MAVLink struct to serialize
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| 280 | */
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| 281 | static inline void mavlink_msg_optical_flow_rad_send_struct(mavlink_channel_t chan, const mavlink_optical_flow_rad_t* optical_flow_rad)
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| 282 | {
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| 283 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 284 | mavlink_msg_optical_flow_rad_send(chan, optical_flow_rad->time_usec, optical_flow_rad->sensor_id, optical_flow_rad->integration_time_us, optical_flow_rad->integrated_x, optical_flow_rad->integrated_y, optical_flow_rad->integrated_xgyro, optical_flow_rad->integrated_ygyro, optical_flow_rad->integrated_zgyro, optical_flow_rad->temperature, optical_flow_rad->quality, optical_flow_rad->time_delta_distance_us, optical_flow_rad->distance);
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| 285 | #else
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| 286 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD, (const char *)optical_flow_rad, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_MIN_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_CRC);
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| 287 | #endif
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| 288 | }
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| 289 |
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| 290 | #if MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN <= MAVLINK_MAX_PAYLOAD_LEN
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| 291 | /*
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| 292 | This varient of _send() can be used to save stack space by re-using
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| 293 | memory from the receive buffer. The caller provides a
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| 294 | mavlink_message_t which is the size of a full mavlink message. This
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| 295 | is usually the receive buffer for the channel, and allows a reply to an
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| 296 | incoming message with minimum stack space usage.
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| 297 | */
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| 298 | static inline void mavlink_msg_optical_flow_rad_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, uint8_t sensor_id, uint32_t integration_time_us, float integrated_x, float integrated_y, float integrated_xgyro, float integrated_ygyro, float integrated_zgyro, int16_t temperature, uint8_t quality, uint32_t time_delta_distance_us, float distance)
|
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| 299 | {
|
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| 300 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 301 | char *buf = (char *)msgbuf;
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| 302 | _mav_put_uint64_t(buf, 0, time_usec);
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| 303 | _mav_put_uint32_t(buf, 8, integration_time_us);
|
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| 304 | _mav_put_float(buf, 12, integrated_x);
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| 305 | _mav_put_float(buf, 16, integrated_y);
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| 306 | _mav_put_float(buf, 20, integrated_xgyro);
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| 307 | _mav_put_float(buf, 24, integrated_ygyro);
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| 308 | _mav_put_float(buf, 28, integrated_zgyro);
|
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| 309 | _mav_put_uint32_t(buf, 32, time_delta_distance_us);
|
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| 310 | _mav_put_float(buf, 36, distance);
|
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| 311 | _mav_put_int16_t(buf, 40, temperature);
|
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| 312 | _mav_put_uint8_t(buf, 42, sensor_id);
|
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| 313 | _mav_put_uint8_t(buf, 43, quality);
|
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| 314 |
|
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| 315 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD, buf, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_MIN_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_CRC);
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| 316 | #else
|
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| 317 | mavlink_optical_flow_rad_t *packet = (mavlink_optical_flow_rad_t *)msgbuf;
|
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| 318 | packet->time_usec = time_usec;
|
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| 319 | packet->integration_time_us = integration_time_us;
|
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| 320 | packet->integrated_x = integrated_x;
|
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| 321 | packet->integrated_y = integrated_y;
|
---|
| 322 | packet->integrated_xgyro = integrated_xgyro;
|
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| 323 | packet->integrated_ygyro = integrated_ygyro;
|
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| 324 | packet->integrated_zgyro = integrated_zgyro;
|
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| 325 | packet->time_delta_distance_us = time_delta_distance_us;
|
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| 326 | packet->distance = distance;
|
---|
| 327 | packet->temperature = temperature;
|
---|
| 328 | packet->sensor_id = sensor_id;
|
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| 329 | packet->quality = quality;
|
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| 330 |
|
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| 331 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD, (const char *)packet, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_MIN_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_CRC);
|
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| 332 | #endif
|
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| 333 | }
|
---|
| 334 | #endif
|
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| 335 |
|
---|
| 336 | #endif
|
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| 337 |
|
---|
| 338 | // MESSAGE OPTICAL_FLOW_RAD UNPACKING
|
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| 339 |
|
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| 340 |
|
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| 341 | /**
|
---|
| 342 | * @brief Get field time_usec from optical_flow_rad message
|
---|
| 343 | *
|
---|
| 344 | * @return Timestamp (microseconds, synced to UNIX time or since system boot)
|
---|
| 345 | */
|
---|
| 346 | static inline uint64_t mavlink_msg_optical_flow_rad_get_time_usec(const mavlink_message_t* msg)
|
---|
| 347 | {
|
---|
| 348 | return _MAV_RETURN_uint64_t(msg, 0);
|
---|
| 349 | }
|
---|
| 350 |
|
---|
| 351 | /**
|
---|
| 352 | * @brief Get field sensor_id from optical_flow_rad message
|
---|
| 353 | *
|
---|
| 354 | * @return Sensor ID
|
---|
| 355 | */
|
---|
| 356 | static inline uint8_t mavlink_msg_optical_flow_rad_get_sensor_id(const mavlink_message_t* msg)
|
---|
| 357 | {
|
---|
| 358 | return _MAV_RETURN_uint8_t(msg, 42);
|
---|
| 359 | }
|
---|
| 360 |
|
---|
| 361 | /**
|
---|
| 362 | * @brief Get field integration_time_us from optical_flow_rad message
|
---|
| 363 | *
|
---|
| 364 | * @return Integration time in microseconds. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.
|
---|
| 365 | */
|
---|
| 366 | static inline uint32_t mavlink_msg_optical_flow_rad_get_integration_time_us(const mavlink_message_t* msg)
|
---|
| 367 | {
|
---|
| 368 | return _MAV_RETURN_uint32_t(msg, 8);
|
---|
| 369 | }
|
---|
| 370 |
|
---|
| 371 | /**
|
---|
| 372 | * @brief Get field integrated_x from optical_flow_rad message
|
---|
| 373 | *
|
---|
| 374 | * @return Flow in radians around X axis (Sensor RH rotation about the X axis induces a positive flow. Sensor linear motion along the positive Y axis induces a negative flow.)
|
---|
| 375 | */
|
---|
| 376 | static inline float mavlink_msg_optical_flow_rad_get_integrated_x(const mavlink_message_t* msg)
|
---|
| 377 | {
|
---|
| 378 | return _MAV_RETURN_float(msg, 12);
|
---|
| 379 | }
|
---|
| 380 |
|
---|
| 381 | /**
|
---|
| 382 | * @brief Get field integrated_y from optical_flow_rad message
|
---|
| 383 | *
|
---|
| 384 | * @return Flow in radians around Y axis (Sensor RH rotation about the Y axis induces a positive flow. Sensor linear motion along the positive X axis induces a positive flow.)
|
---|
| 385 | */
|
---|
| 386 | static inline float mavlink_msg_optical_flow_rad_get_integrated_y(const mavlink_message_t* msg)
|
---|
| 387 | {
|
---|
| 388 | return _MAV_RETURN_float(msg, 16);
|
---|
| 389 | }
|
---|
| 390 |
|
---|
| 391 | /**
|
---|
| 392 | * @brief Get field integrated_xgyro from optical_flow_rad message
|
---|
| 393 | *
|
---|
| 394 | * @return RH rotation around X axis (rad)
|
---|
| 395 | */
|
---|
| 396 | static inline float mavlink_msg_optical_flow_rad_get_integrated_xgyro(const mavlink_message_t* msg)
|
---|
| 397 | {
|
---|
| 398 | return _MAV_RETURN_float(msg, 20);
|
---|
| 399 | }
|
---|
| 400 |
|
---|
| 401 | /**
|
---|
| 402 | * @brief Get field integrated_ygyro from optical_flow_rad message
|
---|
| 403 | *
|
---|
| 404 | * @return RH rotation around Y axis (rad)
|
---|
| 405 | */
|
---|
| 406 | static inline float mavlink_msg_optical_flow_rad_get_integrated_ygyro(const mavlink_message_t* msg)
|
---|
| 407 | {
|
---|
| 408 | return _MAV_RETURN_float(msg, 24);
|
---|
| 409 | }
|
---|
| 410 |
|
---|
| 411 | /**
|
---|
| 412 | * @brief Get field integrated_zgyro from optical_flow_rad message
|
---|
| 413 | *
|
---|
| 414 | * @return RH rotation around Z axis (rad)
|
---|
| 415 | */
|
---|
| 416 | static inline float mavlink_msg_optical_flow_rad_get_integrated_zgyro(const mavlink_message_t* msg)
|
---|
| 417 | {
|
---|
| 418 | return _MAV_RETURN_float(msg, 28);
|
---|
| 419 | }
|
---|
| 420 |
|
---|
| 421 | /**
|
---|
| 422 | * @brief Get field temperature from optical_flow_rad message
|
---|
| 423 | *
|
---|
| 424 | * @return Temperature * 100 in centi-degrees Celsius
|
---|
| 425 | */
|
---|
| 426 | static inline int16_t mavlink_msg_optical_flow_rad_get_temperature(const mavlink_message_t* msg)
|
---|
| 427 | {
|
---|
| 428 | return _MAV_RETURN_int16_t(msg, 40);
|
---|
| 429 | }
|
---|
| 430 |
|
---|
| 431 | /**
|
---|
| 432 | * @brief Get field quality from optical_flow_rad message
|
---|
| 433 | *
|
---|
| 434 | * @return Optical flow quality / confidence. 0: no valid flow, 255: maximum quality
|
---|
| 435 | */
|
---|
| 436 | static inline uint8_t mavlink_msg_optical_flow_rad_get_quality(const mavlink_message_t* msg)
|
---|
| 437 | {
|
---|
| 438 | return _MAV_RETURN_uint8_t(msg, 43);
|
---|
| 439 | }
|
---|
| 440 |
|
---|
| 441 | /**
|
---|
| 442 | * @brief Get field time_delta_distance_us from optical_flow_rad message
|
---|
| 443 | *
|
---|
| 444 | * @return Time in microseconds since the distance was sampled.
|
---|
| 445 | */
|
---|
| 446 | static inline uint32_t mavlink_msg_optical_flow_rad_get_time_delta_distance_us(const mavlink_message_t* msg)
|
---|
| 447 | {
|
---|
| 448 | return _MAV_RETURN_uint32_t(msg, 32);
|
---|
| 449 | }
|
---|
| 450 |
|
---|
| 451 | /**
|
---|
| 452 | * @brief Get field distance from optical_flow_rad message
|
---|
| 453 | *
|
---|
| 454 | * @return Distance to the center of the flow field in meters. Positive value (including zero): distance known. Negative value: Unknown distance.
|
---|
| 455 | */
|
---|
| 456 | static inline float mavlink_msg_optical_flow_rad_get_distance(const mavlink_message_t* msg)
|
---|
| 457 | {
|
---|
| 458 | return _MAV_RETURN_float(msg, 36);
|
---|
| 459 | }
|
---|
| 460 |
|
---|
| 461 | /**
|
---|
| 462 | * @brief Decode a optical_flow_rad message into a struct
|
---|
| 463 | *
|
---|
| 464 | * @param msg The message to decode
|
---|
| 465 | * @param optical_flow_rad C-struct to decode the message contents into
|
---|
| 466 | */
|
---|
| 467 | static inline void mavlink_msg_optical_flow_rad_decode(const mavlink_message_t* msg, mavlink_optical_flow_rad_t* optical_flow_rad)
|
---|
| 468 | {
|
---|
| 469 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
---|
| 470 | optical_flow_rad->time_usec = mavlink_msg_optical_flow_rad_get_time_usec(msg);
|
---|
| 471 | optical_flow_rad->integration_time_us = mavlink_msg_optical_flow_rad_get_integration_time_us(msg);
|
---|
| 472 | optical_flow_rad->integrated_x = mavlink_msg_optical_flow_rad_get_integrated_x(msg);
|
---|
| 473 | optical_flow_rad->integrated_y = mavlink_msg_optical_flow_rad_get_integrated_y(msg);
|
---|
| 474 | optical_flow_rad->integrated_xgyro = mavlink_msg_optical_flow_rad_get_integrated_xgyro(msg);
|
---|
| 475 | optical_flow_rad->integrated_ygyro = mavlink_msg_optical_flow_rad_get_integrated_ygyro(msg);
|
---|
| 476 | optical_flow_rad->integrated_zgyro = mavlink_msg_optical_flow_rad_get_integrated_zgyro(msg);
|
---|
| 477 | optical_flow_rad->time_delta_distance_us = mavlink_msg_optical_flow_rad_get_time_delta_distance_us(msg);
|
---|
| 478 | optical_flow_rad->distance = mavlink_msg_optical_flow_rad_get_distance(msg);
|
---|
| 479 | optical_flow_rad->temperature = mavlink_msg_optical_flow_rad_get_temperature(msg);
|
---|
| 480 | optical_flow_rad->sensor_id = mavlink_msg_optical_flow_rad_get_sensor_id(msg);
|
---|
| 481 | optical_flow_rad->quality = mavlink_msg_optical_flow_rad_get_quality(msg);
|
---|
| 482 | #else
|
---|
| 483 | uint8_t len = msg->len < MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN? msg->len : MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN;
|
---|
| 484 | memset(optical_flow_rad, 0, MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN);
|
---|
| 485 | memcpy(optical_flow_rad, _MAV_PAYLOAD(msg), len);
|
---|
| 486 | #endif
|
---|
| 487 | }
|
---|