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changed optical flow message to flow values
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@LorenzMeier
LorenzMeier committed Feb 15, 2012
1 parent d3aff62 commit 257e519
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Showing 2 changed files with 66 additions and 66 deletions.
126 changes: 63 additions & 63 deletions include/common/mavlink_msg_optical_flow.h
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Original file line number Diff line number Diff line change
Expand Up @@ -5,27 +5,27 @@
typedef struct __mavlink_optical_flow_t
{
uint64_t time_usec; ///< Timestamp (UNIX)
float ground_distance; ///< Ground distance in meters
int16_t flow_x; ///< Flow in pixels in x-sensor direction
int16_t flow_y; ///< Flow in pixels in y-sensor direction
float flow_x; ///< Flow in x-sensor direction
float flow_y; ///< Flow in y-sensor direction
float ground_distance; ///< Ground distance in meters (-1 for unknown, flow is then in pixel / arbitrary scale)
uint8_t sensor_id; ///< Sensor ID
uint8_t quality; ///< Optical flow quality / confidence. 0: bad, 255: maximum quality
} mavlink_optical_flow_t;

#define MAVLINK_MSG_ID_OPTICAL_FLOW_LEN 18
#define MAVLINK_MSG_ID_100_LEN 18
#define MAVLINK_MSG_ID_OPTICAL_FLOW_LEN 22
#define MAVLINK_MSG_ID_100_LEN 22



#define MAVLINK_MESSAGE_INFO_OPTICAL_FLOW { \
"OPTICAL_FLOW", \
6, \
{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_optical_flow_t, time_usec) }, \
{ "ground_distance", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_optical_flow_t, ground_distance) }, \
{ "flow_x", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_optical_flow_t, flow_x) }, \
{ "flow_y", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_optical_flow_t, flow_y) }, \
{ "sensor_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_optical_flow_t, sensor_id) }, \
{ "quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 17, offsetof(mavlink_optical_flow_t, quality) }, \
{ "flow_x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_optical_flow_t, flow_x) }, \
{ "flow_y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_optical_flow_t, flow_y) }, \
{ "ground_distance", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_optical_flow_t, ground_distance) }, \
{ "sensor_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_optical_flow_t, sensor_id) }, \
{ "quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 21, offsetof(mavlink_optical_flow_t, quality) }, \
} \
}

Expand All @@ -38,39 +38,39 @@ typedef struct __mavlink_optical_flow_t
*
* @param time_usec 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 flow_x Flow in x-sensor direction
* @param flow_y Flow in y-sensor direction
* @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
* @param ground_distance Ground distance in meters
* @param ground_distance Ground distance in meters (-1 for unknown, flow is then in pixel / arbitrary scale)
* @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_usec, uint8_t sensor_id, int16_t flow_x, int16_t flow_y, uint8_t quality, float ground_distance)
uint64_t time_usec, uint8_t sensor_id, float flow_x, float flow_y, uint8_t quality, float ground_distance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[18];
char buf[22];
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_float(buf, 8, ground_distance);
_mav_put_int16_t(buf, 12, flow_x);
_mav_put_int16_t(buf, 14, flow_y);
_mav_put_uint8_t(buf, 16, sensor_id);
_mav_put_uint8_t(buf, 17, quality);
_mav_put_float(buf, 8, flow_x);
_mav_put_float(buf, 12, flow_y);
_mav_put_float(buf, 16, ground_distance);
_mav_put_uint8_t(buf, 20, sensor_id);
_mav_put_uint8_t(buf, 21, quality);

memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 18);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 22);
#else
mavlink_optical_flow_t packet;
packet.time_usec = time_usec;
packet.ground_distance = ground_distance;
packet.flow_x = flow_x;
packet.flow_y = flow_y;
packet.ground_distance = ground_distance;
packet.sensor_id = sensor_id;
packet.quality = quality;

memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 18);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 22);
#endif

msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW;
return mavlink_finalize_message(msg, system_id, component_id, 18, 19);
return mavlink_finalize_message(msg, system_id, component_id, 22, 31);
}

/**
Expand All @@ -81,40 +81,40 @@ static inline uint16_t mavlink_msg_optical_flow_pack(uint8_t system_id, uint8_t
* @param msg The MAVLink message to compress the data into
* @param time_usec 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 flow_x Flow in x-sensor direction
* @param flow_y Flow in y-sensor direction
* @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
* @param ground_distance Ground distance in meters
* @param ground_distance Ground distance in meters (-1 for unknown, flow is then in pixel / arbitrary scale)
* @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_usec,uint8_t sensor_id,int16_t flow_x,int16_t flow_y,uint8_t quality,float ground_distance)
uint64_t time_usec,uint8_t sensor_id,float flow_x,float flow_y,uint8_t quality,float ground_distance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[18];
char buf[22];
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_float(buf, 8, ground_distance);
_mav_put_int16_t(buf, 12, flow_x);
_mav_put_int16_t(buf, 14, flow_y);
_mav_put_uint8_t(buf, 16, sensor_id);
_mav_put_uint8_t(buf, 17, quality);
_mav_put_float(buf, 8, flow_x);
_mav_put_float(buf, 12, flow_y);
_mav_put_float(buf, 16, ground_distance);
_mav_put_uint8_t(buf, 20, sensor_id);
_mav_put_uint8_t(buf, 21, quality);

memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 18);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 22);
#else
mavlink_optical_flow_t packet;
packet.time_usec = time_usec;
packet.ground_distance = ground_distance;
packet.flow_x = flow_x;
packet.flow_y = flow_y;
packet.ground_distance = ground_distance;
packet.sensor_id = sensor_id;
packet.quality = quality;

memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 18);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 22);
#endif

msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 18, 19);
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 22, 31);
}

/**
Expand All @@ -136,35 +136,35 @@ static inline uint16_t mavlink_msg_optical_flow_encode(uint8_t system_id, uint8_
*
* @param time_usec 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 flow_x Flow in x-sensor direction
* @param flow_y Flow in y-sensor direction
* @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
* @param ground_distance Ground distance in meters
* @param ground_distance Ground distance in meters (-1 for unknown, flow is then in pixel / arbitrary scale)
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

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, uint8_t quality, float ground_distance)
static inline void mavlink_msg_optical_flow_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t sensor_id, float flow_x, float flow_y, uint8_t quality, float ground_distance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[18];
char buf[22];
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_float(buf, 8, ground_distance);
_mav_put_int16_t(buf, 12, flow_x);
_mav_put_int16_t(buf, 14, flow_y);
_mav_put_uint8_t(buf, 16, sensor_id);
_mav_put_uint8_t(buf, 17, quality);
_mav_put_float(buf, 8, flow_x);
_mav_put_float(buf, 12, flow_y);
_mav_put_float(buf, 16, ground_distance);
_mav_put_uint8_t(buf, 20, sensor_id);
_mav_put_uint8_t(buf, 21, quality);

_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, buf, 18, 19);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, buf, 22, 31);
#else
mavlink_optical_flow_t packet;
packet.time_usec = time_usec;
packet.ground_distance = ground_distance;
packet.flow_x = flow_x;
packet.flow_y = flow_y;
packet.ground_distance = ground_distance;
packet.sensor_id = sensor_id;
packet.quality = quality;

_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, (const char *)&packet, 18, 19);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, (const char *)&packet, 22, 31);
#endif
}

Expand All @@ -190,27 +190,27 @@ static inline uint64_t mavlink_msg_optical_flow_get_time_usec(const mavlink_mess
*/
static inline uint8_t mavlink_msg_optical_flow_get_sensor_id(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 16);
return _MAV_RETURN_uint8_t(msg, 20);
}

/**
* @brief Get field flow_x from optical_flow message
*
* @return Flow in pixels in x-sensor direction
* @return Flow in x-sensor direction
*/
static inline int16_t mavlink_msg_optical_flow_get_flow_x(const mavlink_message_t* msg)
static inline float mavlink_msg_optical_flow_get_flow_x(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 12);
return _MAV_RETURN_float(msg, 8);
}

/**
* @brief Get field flow_y from optical_flow message
*
* @return Flow in pixels in y-sensor direction
* @return Flow in y-sensor direction
*/
static inline int16_t mavlink_msg_optical_flow_get_flow_y(const mavlink_message_t* msg)
static inline float mavlink_msg_optical_flow_get_flow_y(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 14);
return _MAV_RETURN_float(msg, 12);
}

/**
Expand All @@ -220,17 +220,17 @@ static inline int16_t mavlink_msg_optical_flow_get_flow_y(const mavlink_message_
*/
static inline uint8_t mavlink_msg_optical_flow_get_quality(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 17);
return _MAV_RETURN_uint8_t(msg, 21);
}

/**
* @brief Get field ground_distance from optical_flow message
*
* @return Ground distance in meters
* @return Ground distance in meters (-1 for unknown, flow is then in pixel / arbitrary scale)
*/
static inline float mavlink_msg_optical_flow_get_ground_distance(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
return _MAV_RETURN_float(msg, 16);
}

/**
Expand All @@ -243,12 +243,12 @@ static inline void mavlink_msg_optical_flow_decode(const mavlink_message_t* msg,
{
#if MAVLINK_NEED_BYTE_SWAP
optical_flow->time_usec = mavlink_msg_optical_flow_get_time_usec(msg);
optical_flow->ground_distance = mavlink_msg_optical_flow_get_ground_distance(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->ground_distance = mavlink_msg_optical_flow_get_ground_distance(msg);
optical_flow->sensor_id = mavlink_msg_optical_flow_get_sensor_id(msg);
optical_flow->quality = mavlink_msg_optical_flow_get_quality(msg);
#else
memcpy(optical_flow, _MAV_PAYLOAD(msg), 18);
memcpy(optical_flow, _MAV_PAYLOAD(msg), 22);
#endif
}
6 changes: 3 additions & 3 deletions message_definitions/common.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -1459,10 +1459,10 @@
<description>Optical flow from a flow sensor (e.g. optical mouse sensor)</description>
<field type="uint64_t" name="time_usec">Timestamp (UNIX)</field>
<field type="uint8_t" name="sensor_id">Sensor ID</field>
<field type="int16_t" name="flow_x">Flow in pixels in x-sensor direction</field>
<field type="int16_t" name="flow_y">Flow in pixels in y-sensor direction</field>
<field type="float" name="flow_x">Flow in x-sensor direction</field>
<field type="float" name="flow_y">Flow in y-sensor direction</field>
<field type="uint8_t" name="quality">Optical flow quality / confidence. 0: bad, 255: maximum quality</field>
<field type="float" name="ground_distance">Ground distance in meters</field>
<field type="float" name="ground_distance">Ground distance in meters (-1 for unknown, flow is then in pixel / arbitrary scale)</field>
</message>
<message id="101" name="GLOBAL_VISION_POSITION_ESTIMATE">
<field type="uint64_t" name="usec">Timestamp (milliseconds)</field>
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