added px4flow integral frame, adjusted px4flow i2c driver, adjusted postition_estimator_inav

src/modules/position_estimator_inav/position_estimator_inav_main.c

@@ -298,7 +298,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 	float w_flow = 0.0f;
 
 	float sonar_prev = 0.0f;
-	hrt_abstime flow_prev = 0;			// time of last flow measurement
+	//hrt_abstime flow_prev = 0;			// time of last flow measurement
 	hrt_abstime sonar_time = 0;			// time of last sonar measurement (not filtered)
 	hrt_abstime sonar_valid_time = 0;	// time of last sonar measurement used for correction (filtered)
 
@@ -491,8 +491,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 				orb_copy(ORB_ID(optical_flow), optical_flow_sub, &flow);
 
 				/* calculate time from previous update */
-				float flow_dt = flow_prev > 0 ? (flow.flow_timestamp - flow_prev) * 1e-6f : 0.1f;
-				flow_prev = flow.flow_timestamp;
+//				float flow_dt = flow_prev > 0 ? (flow.flow_timestamp - flow_prev) * 1e-6f : 0.1f;
+//				flow_prev = flow.flow_timestamp;
 
 				if ((flow.ground_distance_m > 0.31f) &&
 					(flow.ground_distance_m < 4.0f) &&
@@ -550,8 +550,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 
 					/* convert raw flow to angular flow (rad/s) */
 					float flow_ang[2];
-					flow_ang[0] = flow.flow_raw_x * params.flow_k / 1000.0f / flow_dt;
-					flow_ang[1] = flow.flow_raw_y * params.flow_k / 1000.0f / flow_dt;
+					//todo check direction of x und y axis
+					flow_ang[0] = flow.pixel_flow_x_integral/(float)flow.integration_timespan*1000000.0f;//flow.flow_raw_x * params.flow_k / 1000.0f / flow_dt;
+					flow_ang[1] = flow.pixel_flow_y_integral/(float)flow.integration_timespan*1000000.0f;//flow.flow_raw_y * params.flow_k / 1000.0f / flow_dt;
 					/* flow measurements vector */
 					float flow_m[3];
 					flow_m[0] = -flow_ang[0] * flow_dist;

src/modules/uORB/topics/optical_flow.h

@@ -55,16 +55,21 @@
  */
 struct optical_flow_s {
 
-	uint64_t timestamp;		/**< in microseconds since system start          */
-
-	uint64_t flow_timestamp;		/**< timestamp from flow sensor */
-	int16_t flow_raw_x;		/**< flow in pixels in X direction, not rotation-compensated */
-	int16_t flow_raw_y;		/**< flow in pixels in Y direction, not rotation-compensated */
-	float flow_comp_x_m;		/**< speed over ground in meters, rotation-compensated */
-	float flow_comp_y_m;		/**< speed over ground in meters, rotation-compensated */
-	float ground_distance_m;	/**< Altitude / distance to ground in meters */
-	uint8_t	quality;		/**< Quality of the measurement, 0: bad quality, 255: maximum quality */
+	uint64_t timestamp;		/**< in microseconds since system start  */
 	uint8_t sensor_id;		/**< id of the sensor emitting the flow value */
+	float pixel_flow_x_integral; /**< accumulated optical flow in radians around x axis */
+	float pixel_flow_y_integral; /**< accumulated optical flow in radians around y axis */
+	float gyro_x_rate_integral;	 /**< accumulated gyro value in radians around x axis */
+	float gyro_y_rate_integral;  /**< accumulated gyro value in radians around y axis */
+	float gyro_z_rate_integral;   /**< accumulated gyro value in radians around z axis */
+	float ground_distance_m;	 /**< Altitude / distance to ground in meters */
+	uint32_t integration_timespan; /**<accumulation timespan in microseconds     */
+	uint32_t time_since_last_sonar_update;/**< time since last sonar update in microseconds */
+	uint16_t frame_count_since_last_readout;/**< number of accumulated frames in timespan */
+	uint8_t	quality;		/**< Average of quality of accumulated frames, 0: bad quality, 255: maximum quality */
+
+
+
 
 };