px4-firmware/msg/VehicleOpticalFlowVel.msg

uint64 timestamp                       # time since system start (microseconds)
uint64 timestamp_sample                # the timestamp of the raw data (microseconds)

float32[2] vel_body                    # velocity obtained from gyro-compensated and distance-scaled optical flow raw measurements in body frame(m/s)
float32[2] vel_ne                      # same as vel_body but in local frame (m/s)

float32[2] flow_rate_uncompensated     # integrated optical flow measurement (rad/s)
float32[2] flow_rate_compensated       # integrated optical flow measurement compensated for angular motion (rad/s)

float32[3] gyro_rate                   # gyro measurement synchronized with flow measurements (rad/s)

float32[3] gyro_bias
float32[3] ref_gyro

# TOPICS estimator_optical_flow_vel vehicle_optical_flow_vel
optical flow sensor pipeline overhaul - all sources of optical flow publish sensor_optical_flow - sensor_optical_flow is aggregated by the sensors module, aligned with integrated gyro, and published as vehicle_optical_flow Co-authored-by: alexklimaj <alex@arkelectron.com> 2022-06-17 17:02:09 -03:00			`uint64 timestamp # time since system start (microseconds)`
			`uint64 timestamp_sample # the timestamp of the raw data (microseconds)`

			`float32[2] vel_body # velocity obtained from gyro-compensated and distance-scaled optical flow raw measurements in body frame(m/s)`
			`float32[2] vel_ne # same as vel_body but in local frame (m/s)`

ekf2-flow: refactor control logic Use flow rates instead of integrals in backend. This allows us to delay the data to the mitpoint integration time and simplifies the code in general. Gyro compensation can still be done in EKF2 if needed, but the flow module normally already appends the correct gyro data to the flow message. 2023-11-20 05:05:46 -04:00			`float32[2] flow_rate_uncompensated # integrated optical flow measurement (rad/s)`
			`float32[2] flow_rate_compensated # integrated optical flow measurement compensated for angular motion (rad/s)`
optical flow sensor pipeline overhaul - all sources of optical flow publish sensor_optical_flow - sensor_optical_flow is aggregated by the sensors module, aligned with integrated gyro, and published as vehicle_optical_flow Co-authored-by: alexklimaj <alex@arkelectron.com> 2022-06-17 17:02:09 -03:00
			`float32[3] gyro_rate # gyro measurement synchronized with flow measurements (rad/s)`

ekf2: fix flow gyro bias corrections (#22145) * ekf2-flow: fix flow gyro bias compensation * ekf2-flow: apply flow gyro bias when used * ekf2: log optical flow gyro bias * ekf2: optical flow control always use provided flow gyro (with bias applied) * ekf2-flow: log flow gyro and gyro reference * ekf2-flow: support senrors with XY flow gyro --------- Co-authored-by: Daniel Agar <daniel@agar.ca> Co-authored-by: bresch <[brescianimathieu@gmail.com](mailto:brescianimathieu@gmail.com)> 2023-10-05 11:51:30 -03:00			`float32[3] gyro_bias`
			`float32[3] ref_gyro`

optical flow sensor pipeline overhaul - all sources of optical flow publish sensor_optical_flow - sensor_optical_flow is aggregated by the sensors module, aligned with integrated gyro, and published as vehicle_optical_flow Co-authored-by: alexklimaj <alex@arkelectron.com> 2022-06-17 17:02:09 -03:00			`# TOPICS estimator_optical_flow_vel vehicle_optical_flow_vel`