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ekf2: flow log calculated range from compensated flow and velocity estimate

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Daniel Agar
2024-07-17 11:01:51 -04:00
parent a474c291b5
commit 84afc996b0
5 changed files with 31 additions and 11 deletions
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msg/VehicleOpticalFlowVel.msg
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@@ -3,6 +3,7 @@ uint64 timestamp_sample # the timestamp of the raw data (microsec
float32[2] vel_body # velocity obtained from gyro-compensated and distance-scaled optical flow raw measurements in body frame(m/s)
float32[2] vel_ne # same as vel_body but in local frame (m/s)
float32 flow_range # range calculated from compensated flow and velocity estimate (m)
float32[2] flow_rate_uncompensated # integrated optical flow measurement (rad/s)
float32[2] flow_rate_compensated # integrated optical flow measurement compensated for angular motion (rad/s)