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Update optical flow interface

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kamilritz
2020-01-24 16:18:42 +03:00
committed by Roman Bapst
parent cafb1400fb
commit f3d790a664
12 changed files with 46 additions and 57 deletions
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EKF/common.h
+2 -9
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@@ -73,13 +73,6 @@ struct gps_message {
float pdop; ///< position dilution of precision
};
struct flow_message {
uint8_t quality; ///< Quality of Flow data
Vector2f flowdata; ///< Optical flow rates about the X and Y body axes (rad/sec)
Vector3f gyrodata; ///< Gyro rates about the XYZ body axes (rad/sec)
uint32_t dt; ///< integration time of flow samples (microseconds)
};
struct outputSample {
Quatf quat_nominal; ///< nominal quaternion describing vehicle attitude
Vector3f vel; ///< NED velocity estimate in earth frame (m/sec)
@@ -137,8 +130,8 @@ struct airspeedSample {
struct flowSample {
uint8_t quality; ///< quality indicator between 0 and 255
Vector2f flowRadXY; ///< measured delta angle of the image about the X and Y body axes (rad), RH rotation is positive
Vector3f gyroXYZ; ///< measured delta angle of the inertial frame about the body axes obtained from rate gyro measurements (rad), RH rotation is positive
Vector2f flow_xy_rad; ///< measured delta angle of the image about the X and Y body axes (rad), RH rotation is positive
Vector3f gyro_xyz; ///< measured delta angle of the inertial frame about the body axes obtained from rate gyro measurements (rad), RH rotation is positive
float dt; ///< amount of integration time (sec)
uint64_t time_us; ///< timestamp of the integration period leading edge (uSec)
};