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WIP: optical_flow sensor & vehicle

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Daniel Agar
2022-05-09 20:30:17 -04:00
parent 15296ab453
commit 16d3f536a7
30 changed files with 338 additions and 54 deletions
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msg/CMakeLists.txt
+2 -1
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@@ -118,7 +118,8 @@ set(msg_files
obstacle_distance.msg
offboard_control_mode.msg
onboard_computer_status.msg
optical_flow.msg
sensor_optical_flow.msg
vehicle_optical_flow.msg
orbit_status.msg
parameter_update.msg
ping.msg
msg/optical_flow.msg → msg/sensor_optical_flow.msg
+8
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@@ -4,16 +4,24 @@
uint64 timestamp # time since system start (microseconds)
uint8 sensor_id # id of the sensor emitting the flow value
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. Set to NaN if flow sensor does not have 3-axis gyro data.
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.
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.
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
float32 max_flow_rate # Magnitude of maximum angular which the optical flow sensor can measure reliably
msg/vehicle_optical_flow.msg
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@@ -0,0 +1,29 @@
# Optical flow in XYZ body frame in SI units.
# http://en.wikipedia.org/wiki/International_System_of_Units
uint64 timestamp # time since system start (microseconds)
uint8 sensor_id # id of the sensor emitting the flow value
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. Set to NaN if flow sensor does not have 3-axis gyro data.
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.
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.
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
float32 max_flow_rate # Magnitude of maximum angular which the optical flow sensor can measure reliably
float32 min_ground_distance # Minimum distance from ground at which the optical flow sensor operates reliably
float32 max_ground_distance # Maximum distance from ground at which the optical flow sensor operates reliably