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docs/en/msg_docs/VehicleOpticalFlowVel.md
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@@ -1,8 +1,32 @@
---
pageClass: is-wide-page
---
# VehicleOpticalFlowVel (UORB message)
**TOPICS:** estimator_optical_flow_vel vehicle_optical_flow_vel
## Fields
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleOpticalFlowVel.msg)
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ----------------------- | ------------ | ------------ | ---------- | --------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
| vel_body | `float32[2]` | | | velocity obtained from gyro-compensated and distance-scaled optical flow raw measurements in body frame(m/s) |
| vel_ne | `float32[2]` | | | same as vel_body but in local frame (m/s) |
| vel_body_filtered | `float32[2]` | | | filtered velocity obtained from gyro-compensated and distance-scaled optical flow raw measurements in body frame(m/s) |
| vel_ne_filtered | `float32[2]` | | | filtered same as vel_body_filtered but in local frame (m/s) |
| flow_rate_uncompensated | `float32[2]` | | | integrated optical flow measurement (rad/s) |
| flow_rate_compensated | `float32[2]` | | | integrated optical flow measurement compensated for angular motion (rad/s) |
| gyro_rate | `float32[3]` | | | gyro measurement synchronized with flow measurements (rad/s) |
| gyro_bias | `float32[3]` | | |
| ref_gyro | `float32[3]` | | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleOpticalFlowVel.msg)
::: details Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -23,5 +47,6 @@ float32[3] gyro_bias
float32[3] ref_gyro
# TOPICS estimator_optical_flow_vel vehicle_optical_flow_vel
```
:::