msg_hil_optical_flow.java

/* AUTO-GENERATED FILE.  DO NOT MODIFY.
 *
 * This class was automatically generated by the
 * java mavlink generator tool. It should not be modified by hand.
 */

// MESSAGE HIL_OPTICAL_FLOW PACKING
package com.MAVLink.common;
import com.MAVLink.MAVLinkPacket;
import com.MAVLink.Messages.MAVLinkMessage;
import com.MAVLink.Messages.MAVLinkPayload;

/**
* Simulated optical flow from a flow sensor (e.g. PX4FLOW or optical mouse sensor)
*/
public class msg_hil_optical_flow extends MAVLinkMessage{

    public static final int MAVLINK_MSG_ID_HIL_OPTICAL_FLOW = 114;
    public static final int MAVLINK_MSG_LENGTH = 44;
    private static final long serialVersionUID = MAVLINK_MSG_ID_HIL_OPTICAL_FLOW;


    
    /**
    * Timestamp (microseconds, synced to UNIX time or since system boot)
    */
    public long time_usec;
    
    /**
    * Integration time in microseconds. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.
    */
    public long integration_time_us;
    
    /**
    * 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.)
    */
    public float integrated_x;
    
    /**
    * 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.)
    */
    public float integrated_y;
    
    /**
    * RH rotation around X axis (rad)
    */
    public float integrated_xgyro;
    
    /**
    * RH rotation around Y axis (rad)
    */
    public float integrated_ygyro;
    
    /**
    * RH rotation around Z axis (rad)
    */
    public float integrated_zgyro;
    
    /**
    * Time in microseconds since the distance was sampled.
    */
    public long time_delta_distance_us;
    
    /**
    * Distance to the center of the flow field in meters. Positive value (including zero): distance known. Negative value: Unknown distance.
    */
    public float distance;
    
    /**
    * Temperature * 100 in centi-degrees Celsius
    */
    public short temperature;
    
    /**
    * Sensor ID
    */
    public short sensor_id;
    
    /**
    * Optical flow quality / confidence. 0: no valid flow, 255: maximum quality
    */
    public short quality;
    

    /**
    * Generates the payload for a mavlink message for a message of this type
    * @return
    */
    public MAVLinkPacket pack(){
        MAVLinkPacket packet = new MAVLinkPacket(MAVLINK_MSG_LENGTH);
        packet.sysid = 255;
        packet.compid = 190;
        packet.msgid = MAVLINK_MSG_ID_HIL_OPTICAL_FLOW;
        
        packet.payload.putUnsignedLong(time_usec);
        
        packet.payload.putUnsignedInt(integration_time_us);
        
        packet.payload.putFloat(integrated_x);
        
        packet.payload.putFloat(integrated_y);
        
        packet.payload.putFloat(integrated_xgyro);
        
        packet.payload.putFloat(integrated_ygyro);
        
        packet.payload.putFloat(integrated_zgyro);
        
        packet.payload.putUnsignedInt(time_delta_distance_us);
        
        packet.payload.putFloat(distance);
        
        packet.payload.putShort(temperature);
        
        packet.payload.putUnsignedByte(sensor_id);
        
        packet.payload.putUnsignedByte(quality);
        
        return packet;
    }

    /**
    * Decode a hil_optical_flow message into this class fields
    *
    * @param payload The message to decode
    */
    public void unpack(MAVLinkPayload payload) {
        payload.resetIndex();
        
        this.time_usec = payload.getUnsignedLong();
        
        this.integration_time_us = payload.getUnsignedInt();
        
        this.integrated_x = payload.getFloat();
        
        this.integrated_y = payload.getFloat();
        
        this.integrated_xgyro = payload.getFloat();
        
        this.integrated_ygyro = payload.getFloat();
        
        this.integrated_zgyro = payload.getFloat();
        
        this.time_delta_distance_us = payload.getUnsignedInt();
        
        this.distance = payload.getFloat();
        
        this.temperature = payload.getShort();
        
        this.sensor_id = payload.getUnsignedByte();
        
        this.quality = payload.getUnsignedByte();
        
    }

    /**
    * Constructor for a new message, just initializes the msgid
    */
    public msg_hil_optical_flow(){
        msgid = MAVLINK_MSG_ID_HIL_OPTICAL_FLOW;
    }

    /**
    * Constructor for a new message, initializes the message with the payload
    * from a mavlink packet
    *
    */
    public msg_hil_optical_flow(MAVLinkPacket mavLinkPacket){
        this.sysid = mavLinkPacket.sysid;
        this.compid = mavLinkPacket.compid;
        this.msgid = MAVLINK_MSG_ID_HIL_OPTICAL_FLOW;
        unpack(mavLinkPacket.payload);
    }

                            
    /**
    * Returns a string with the MSG name and data
    */
    public String toString(){
        return "MAVLINK_MSG_ID_HIL_OPTICAL_FLOW -"+" time_usec:"+time_usec+" integration_time_us:"+integration_time_us+" integrated_x:"+integrated_x+" integrated_y:"+integrated_y+" integrated_xgyro:"+integrated_xgyro+" integrated_ygyro:"+integrated_ygyro+" integrated_zgyro:"+integrated_zgyro+" time_delta_distance_us:"+time_delta_distance_us+" distance:"+distance+" temperature:"+temperature+" sensor_id:"+sensor_id+" quality:"+quality+"";
    }
}