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31 lines
1.4 KiB
Markdown
31 lines
1.4 KiB
Markdown
# VehicleOpticalFlow (UORB message)
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Optical flow in XYZ body frame in SI units.
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleOpticalFlow.msg)
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```c
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# Optical flow in XYZ body frame in SI units.
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample
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uint32 device_id # unique device ID for the sensor that does not change between power cycles
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float32[2] pixel_flow # (radians) accumulated optical flow in radians where a positive value is produced by a RH rotation about the body axis
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float32[3] delta_angle # (radians) accumulated gyro radians where a positive value is produced by a RH rotation of the sensor about the body axis. (NAN if unavailable)
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float32 distance_m # (meters) Distance to the center of the flow field (NAN if unavailable)
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uint32 integration_timespan_us # (microseconds) accumulation timespan in microseconds
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uint8 quality # Average of quality of accumulated frames, 0: bad quality, 255: maximum quality
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float32 max_flow_rate # (radians/s) Magnitude of maximum angular which the optical flow sensor can measure reliably
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float32 min_ground_distance # (meters) Minimum distance from ground at which the optical flow sensor operates reliably
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float32 max_ground_distance # (meters) Maximum distance from ground at which the optical flow sensor operates reliably
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```
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