From ae55c8d87c20544f7bc7297dd46c75d74ee4a1c8 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Thu, 29 Dec 2016 19:17:14 +1100 Subject: [PATCH] msg: Clarify sign conventions for optical flow message --- msg/optical_flow.msg | 15 +++++++-------- 1 file changed, 7 insertions(+), 8 deletions(-) diff --git a/msg/optical_flow.msg b/msg/optical_flow.msg index a890df68a4..568ca26e38 100644 --- a/msg/optical_flow.msg +++ b/msg/optical_flow.msg @@ -1,16 +1,15 @@ -# Optical flow in NED body frame in SI units. +# Optical flow in XYZ body frame in SI units. # @see http://en.wikipedia.org/wiki/International_System_of_Units - + uint8 sensor_id # id of the sensor emitting the flow value -float32 pixel_flow_x_integral # accumulated optical flow in radians around x axis -float32 pixel_flow_y_integral # accumulated optical flow in radians around y axis -float32 gyro_x_rate_integral # accumulated gyro value in radians around x axis -float32 gyro_y_rate_integral # accumulated gyro value in radians around y axis -float32 gyro_z_rate_integral # accumulated gyro value in radians around z axis +float32 pixel_flow_x_integral # accumulated optical flow in radians where a positive value is produced by a RH rotation about the X body axis +float32 pixel_flow_y_integral # accumulated optical flow in radians where a positive value is produced by a RH rotation about the Y body axis +float32 gyro_x_rate_integral # accumulated gyro value in radians where a positive value is produced by a RH rotation about the X body axis +float32 gyro_y_rate_integral # accumulated gyro value in radians where a positive value is produced by a RH rotation about the Y body axis +float32 gyro_z_rate_integral # accumulated gyro value in radians where a positive value is produced by a RH rotation about the Z body axis float32 ground_distance_m # Altitude / distance to ground in meters uint32 integration_timespan # accumulation timespan in microseconds uint32 time_since_last_sonar_update # time since last sonar update in microseconds uint16 frame_count_since_last_readout # number of accumulated frames in timespan int16 gyro_temperature # Temperature * 100 in centi-degrees Celsius uint8 quality # Average of quality of accumulated frames, 0: bad quality, 255: maximum quality -