text: // MESSAGE OPTICAL_FLOW PACKING
  
  #define MAVLINK_MSG_ID_OPTICAL_FLOW 100
  
  MAVPACKED(
  typedef struct __mavlink_optical_flow_t {
  	uint64_t time_usec; /*< Timestamp (UNIX)*/
  	float flow_comp_m_x; /*< Flow in meters in x-sensor direction, angular-speed compensated*/
  	float flow_comp_m_y; /*< Flow in meters in y-sensor direction, angular-speed compensated*/
  	float ground_distance; /*< Ground distance in meters. Positive value: distance known. Negative value: Unknown distance*/
  	int16_t flow_x; /*< Flow in pixels * 10 in x-sensor direction (dezi-pixels)*/
  	int16_t flow_y; /*< Flow in pixels * 10 in y-sensor direction (dezi-pixels)*/
  	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 26
  #define MAVLINK_MSG_ID_OPTICAL_FLOW_MIN_LEN 26
  #define MAVLINK_MSG_ID_100_LEN 26
  #define MAVLINK_MSG_ID_100_MIN_LEN 26
  
  #define MAVLINK_MSG_ID_OPTICAL_FLOW_CRC 175
  #define MAVLINK_MSG_ID_100_CRC 175
  
  
  
  #if MAVLINK_COMMAND_24BIT
  #define MAVLINK_MESSAGE_INFO_OPTICAL_FLOW { \
  	100, \
  	"OPTICAL_FLOW", \
  	8, \
  	{  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_optical_flow_t, time_usec) }, \
           { "flow_comp_m_x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_optical_flow_t, flow_comp_m_x) }, \
           { "flow_comp_m_y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_optical_flow_t, flow_comp_m_y) }, \
           { "ground_distance", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_optical_flow_t, ground_distance) }, \
           { "flow_x", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_optical_flow_t, flow_x) }, \
           { "flow_y", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_optical_flow_t, flow_y) }, \
           { "sensor_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_optical_flow_t, sensor_id) }, \
           { "quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 25, offsetof(mavlink_optical_flow_t, quality) }, \
           } \
  }
  #else
  #define MAVLINK_MESSAGE_INFO_OPTICAL_FLOW { \
  	"OPTICAL_FLOW", \
  	8, \
  	{  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_optical_flow_t, time_usec) }, \
           { "flow_comp_m_x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_optical_flow_t, flow_comp_m_x) }, \
           { "flow_comp_m_y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_optical_flow_t, flow_comp_m_y) }, \
           { "ground_distance", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_optical_flow_t, ground_distance) }, \
           { "flow_x", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_optical_flow_t, flow_x) }, \
           { "flow_y", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_optical_flow_t, flow_y) }, \
           { "sensor_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_optical_flow_t, sensor_id) }, \
           { "quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 25, offsetof(mavlink_optical_flow_t, quality) }, \
           } \
  }
  #endif
  
  /**
   * @brief Pack a optical_flow message
   * @param system_id ID of this system
   * @param component_id ID of this component (e.g. 200 for IMU)
   * @param msg The MAVLink message to compress the data into
   *
   * @param time_usec Timestamp (UNIX)
   * @param sensor_id Sensor ID
   * @param flow_x Flow in pixels * 10 in x-sensor direction (dezi-pixels)
   * @param flow_y Flow in pixels * 10 in y-sensor direction (dezi-pixels)
   * @param flow_comp_m_x Flow in meters in x-sensor direction, angular-speed compensated
   * @param flow_comp_m_y Flow in meters in y-sensor direction, angular-speed compensated
   * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
   * @param ground_distance Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
   * @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, float flow_comp_m_x, float flow_comp_m_y, uint8_t quality, float ground_distance)
  {
  #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  	char buf[MAVLINK_MSG_ID_OPTICAL_FLOW_LEN];
  	_mav_put_uint64_t(buf, 0, time_usec);
  	_mav_put_float(buf, 8, flow_comp_m_x);
  	_mav_put_float(buf, 12, flow_comp_m_y);
  	_mav_put_float(buf, 16, ground_distance);
  	_mav_put_int16_t(buf, 20, flow_x);
  	_mav_put_int16_t(buf, 22, flow_y);
  	_mav_put_uint8_t(buf, 24, sensor_id);
  	_mav_put_uint8_t(buf, 25, quality);
  
  	memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
  #else
  	mavlink_optical_flow_t packet;
  	packet.time_usec = time_usec;
  	packet.flow_comp_m_x = flow_comp_m_x;
  	packet.flow_comp_m_y = flow_comp_m_y;
  	packet.ground_distance = ground_distance;
  	packet.flow_x = flow_x;
  	packet.flow_y = flow_y;
  	packet.sensor_id = sensor_id;
  	packet.quality = quality;
  
  	memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
  #endif
  
  	msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW;
  	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);
  }
  
  /**
   * @brief Pack a optical_flow message on a channel
   * @param system_id ID of this system
   * @param component_id ID of this component (e.g. 200 for IMU)
   * @param chan The MAVLink channel this message will be sent over
   * @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 * 10 in x-sensor direction (dezi-pixels)
   * @param flow_y Flow in pixels * 10 in y-sensor direction (dezi-pixels)
   * @param flow_comp_m_x Flow in meters in x-sensor direction, angular-speed compensated
   * @param flow_comp_m_y Flow in meters in y-sensor direction, angular-speed compensated
   * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
   * @param ground_distance Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
   * @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, float flow_comp_m_x, float flow_comp_m_y, uint8_t quality, float ground_distance)
  {
  #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  	char buf[MAVLINK_MSG_ID_OPTICAL_FLOW_LEN];
  	_mav_put_uint64_t(buf, 0, time_usec);
  	_mav_put_float(buf, 8, flow_comp_m_x);
  	_mav_put_float(buf, 12, flow_comp_m_y);
  	_mav_put_float(buf, 16, ground_distance);
  	_mav_put_int16_t(buf, 20, flow_x);
  	_mav_put_int16_t(buf, 22, flow_y);
  	_mav_put_uint8_t(buf, 24, sensor_id);
  	_mav_put_uint8_t(buf, 25, quality);
  
  	memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
  #else
  	mavlink_optical_flow_t packet;
  	packet.time_usec = time_usec;
  	packet.flow_comp_m_x = flow_comp_m_x;
  	packet.flow_comp_m_y = flow_comp_m_y;
  	packet.ground_distance = ground_distance;
  	packet.flow_x = flow_x;
  	packet.flow_y = flow_y;
  	packet.sensor_id = sensor_id;
  	packet.quality = quality;
  
  	memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
  #endif
  
  	msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW;
  	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);
  }
  
  /**
   * @brief Encode a optical_flow struct
   *
   * @param system_id ID of this system
   * @param component_id ID of this component (e.g. 200 for IMU)
   * @param msg The MAVLink message to compress the data into
   * @param optical_flow C-struct to read the message contents from
   */
  static inline uint16_t mavlink_msg_optical_flow_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_optical_flow_t* optical_flow)
  {
  	return mavlink_msg_optical_flow_pack(system_id, component_id, msg, optical_flow->time_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);
  }
  
  /**
   * @brief Encode a optical_flow struct on a channel
   *
   * @param system_id ID of this system
   * @param component_id ID of this component (e.g. 200 for IMU)
   * @param chan The MAVLink channel this message will be sent over
   * @param msg The MAVLink message to compress the data into
   * @param optical_flow C-struct to read the message contents from
   */
  static inline uint16_t mavlink_msg_optical_flow_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_optical_flow_t* optical_flow)
  {
  	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);
  }
  
  /**
   * @brief Send a optical_flow message
   * @param chan MAVLink channel to send the message
   *
   * @param time_usec Timestamp (UNIX)
   * @param sensor_id Sensor ID
   * @param flow_x Flow in pixels * 10 in x-sensor direction (dezi-pixels)
   * @param flow_y Flow in pixels * 10 in y-sensor direction (dezi-pixels)
   * @param flow_comp_m_x Flow in meters in x-sensor direction, angular-speed compensated
   * @param flow_comp_m_y Flow in meters in y-sensor direction, angular-speed compensated
   * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
   * @param ground_distance Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
   */
  #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, float flow_comp_m_x, float flow_comp_m_y, uint8_t quality, float ground_distance)
  {
  #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  	char buf[MAVLINK_MSG_ID_OPTICAL_FLOW_LEN];
  	_mav_put_uint64_t(buf, 0, time_usec);
  	_mav_put_float(buf, 8, flow_comp_m_x);
  	_mav_put_float(buf, 12, flow_comp_m_y);
  	_mav_put_float(buf, 16, ground_distance);
  	_mav_put_int16_t(buf, 20, flow_x);
  	_mav_put_int16_t(buf, 22, flow_y);
  	_mav_put_uint8_t(buf, 24, sensor_id);
  	_mav_put_uint8_t(buf, 25, quality);
  
  	_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);
  #else
  	mavlink_optical_flow_t packet;
  	packet.time_usec = time_usec;
  	packet.flow_comp_m_x = flow_comp_m_x;
  	packet.flow_comp_m_y = flow_comp_m_y;
  	packet.ground_distance = ground_distance;
  	packet.flow_x = flow_x;
  	packet.flow_y = flow_y;
  	packet.sensor_id = sensor_id;
  	packet.quality = quality;
  
  	_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);
  #endif
  }
  
  /**
   * @brief Send a optical_flow message
   * @param chan MAVLink channel to send the message
   * @param struct The MAVLink struct to serialize
   */
  static inline void mavlink_msg_optical_flow_send_struct(mavlink_channel_t chan, const mavlink_optical_flow_t* optical_flow)
  {
  #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  	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);
  #else
  	_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);
  #endif
  }
  
  #if MAVLINK_MSG_ID_OPTICAL_FLOW_LEN <= MAVLINK_MAX_PAYLOAD_LEN
  /*
    This varient of _send() can be used to save stack space by re-using
    memory from the receive buffer.  The caller provides a
    mavlink_message_t which is the size of a full mavlink message. This
    is usually the receive buffer for the channel, and allows a reply to an
    incoming message with minimum stack space usage.
   */
  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)
  {
  #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  	char* buf = (char*)msgbuf;
  	_mav_put_uint64_t(buf, 0, time_usec);
  	_mav_put_float(buf, 8, flow_comp_m_x);
  	_mav_put_float(buf, 12, flow_comp_m_y);
  	_mav_put_float(buf, 16, ground_distance);
  	_mav_put_int16_t(buf, 20, flow_x);
  	_mav_put_int16_t(buf, 22, flow_y);
  	_mav_put_uint8_t(buf, 24, sensor_id);
  	_mav_put_uint8_t(buf, 25, quality);
  
  	_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);
  #else
  	mavlink_optical_flow_t* packet = (mavlink_optical_flow_t*)msgbuf;
  	packet->time_usec = time_usec;
  	packet->flow_comp_m_x = flow_comp_m_x;
  	packet->flow_comp_m_y = flow_comp_m_y;
  	packet->ground_distance = ground_distance;
  	packet->flow_x = flow_x;
  	packet->flow_y = flow_y;
  	packet->sensor_id = sensor_id;
  	packet->quality = quality;
  
  	_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);
  #endif
  }
  #endif
  
  #endif
  
  // MESSAGE OPTICAL_FLOW UNPACKING
  
  
  /**
   * @brief Get field time_usec from optical_flow message
   *
   * @return Timestamp (UNIX)
   */
  static inline uint64_t mavlink_msg_optical_flow_get_time_usec(const mavlink_message_t* msg)
  {
  	return _MAV_RETURN_uint64_t(msg,  0);
  }
  
  /**
   * @brief Get field sensor_id from optical_flow message
   *
   * @return Sensor ID
   */
  static inline uint8_t mavlink_msg_optical_flow_get_sensor_id(const mavlink_message_t* msg)
  {
  	return _MAV_RETURN_uint8_t(msg,  24);
  }
  
  /**
   * @brief Get field flow_x from optical_flow message
   *
   * @return Flow in pixels * 10 in x-sensor direction (dezi-pixels)
   */
  static inline int16_t mavlink_msg_optical_flow_get_flow_x(const mavlink_message_t* msg)
  {
  	return _MAV_RETURN_int16_t(msg,  20);
  }
  
  /**
   * @brief Get field flow_y from optical_flow message
   *
   * @return Flow in pixels * 10 in y-sensor direction (dezi-pixels)
   */
  static inline int16_t mavlink_msg_optical_flow_get_flow_y(const mavlink_message_t* msg)
  {
  	return _MAV_RETURN_int16_t(msg,  22);
  }
  
  /**
   * @brief Get field flow_comp_m_x from optical_flow message
   *
   * @return Flow in meters in x-sensor direction, angular-speed compensated
   */
  static inline float mavlink_msg_optical_flow_get_flow_comp_m_x(const mavlink_message_t* msg)
  {
  	return _MAV_RETURN_float(msg,  8);
  }
  
  /**
   * @brief Get field flow_comp_m_y from optical_flow message
   *
   * @return Flow in meters in y-sensor direction, angular-speed compensated
   */
  static inline float mavlink_msg_optical_flow_get_flow_comp_m_y(const mavlink_message_t* msg)
  {
  	return _MAV_RETURN_float(msg,  12);
  }
  
  /**
   * @brief Get field quality from optical_flow message
   *
   * @return Optical flow quality / confidence. 0: bad, 255: maximum quality
   */
  static inline uint8_t mavlink_msg_optical_flow_get_quality(const mavlink_message_t* msg)
  {
  	return _MAV_RETURN_uint8_t(msg,  25);
  }
  
  /**
   * @brief Get field ground_distance from optical_flow message
   *
   * @return Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
   */
  static inline float mavlink_msg_optical_flow_get_ground_distance(const mavlink_message_t* msg)
  {
  	return _MAV_RETURN_float(msg,  16);
  }
  
  /**
   * @brief Decode a optical_flow message into a struct
   *
   * @param msg The message to decode
   * @param optical_flow C-struct to decode the message contents into
   */
  static inline void mavlink_msg_optical_flow_decode(const mavlink_message_t* msg, mavlink_optical_flow_t* optical_flow)
  {
  #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  	optical_flow->time_usec = mavlink_msg_optical_flow_get_time_usec(msg);
  	optical_flow->flow_comp_m_x = mavlink_msg_optical_flow_get_flow_comp_m_x(msg);
  	optical_flow->flow_comp_m_y = mavlink_msg_optical_flow_get_flow_comp_m_y(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->sensor_id = mavlink_msg_optical_flow_get_sensor_id(msg);
  	optical_flow->quality = mavlink_msg_optical_flow_get_quality(msg);
  #else
  	uint8_t len = msg->len < MAVLINK_MSG_ID_OPTICAL_FLOW_LEN ? msg->len : MAVLINK_MSG_ID_OPTICAL_FLOW_LEN;
  	memset(optical_flow, 0, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
  	memcpy(optical_flow, _MAV_PAYLOAD(msg), len);
  #endif
  }
  