forked from Archive/PX4-Autopilot
30 lines
2.0 KiB
Plaintext
30 lines
2.0 KiB
Plaintext
# Optical flow in XYZ body frame in SI units.
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# http://en.wikipedia.org/wiki/International_System_of_Units
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uint64 timestamp # time since system start (microseconds)
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uint8 sensor_id # id of the sensor emitting the flow value
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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
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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
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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. Set to NaN if flow sensor does not have 3-axis gyro data.
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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. Set to NaN if flow sensor does not have 3-axis gyro data.
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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. Set to NaN if flow sensor does not have 3-axis gyro data.
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float32 ground_distance_m # Altitude / distance to ground in meters
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uint32 integration_timespan # accumulation timespan in microseconds
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uint32 time_since_last_sonar_update # time since last sonar update in microseconds
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uint16 frame_count_since_last_readout # number of accumulated frames in timespan
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int16 gyro_temperature # Temperature * 100 in centi-degrees Celsius
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uint8 quality # Average of quality of accumulated frames, 0: bad quality, 255: maximum quality
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float32 max_flow_rate # Magnitude of maximum angular which the optical flow sensor can measure reliably
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float32 min_ground_distance # Minimum distance from ground at which the optical flow sensor operates reliably
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float32 max_ground_distance # Maximum distance from ground at which the optical flow sensor operates reliably
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uint8 MODE_UNKNOWN = 0
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uint8 MODE_BRIGHT = 1
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uint8 MODE_LOWLIGHT = 2
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uint8 MODE_SUPER_LOWLIGHT = 3
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uint8 mode
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