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* ekf2-flow: fix flow gyro bias compensation * ekf2-flow: apply flow gyro bias when used * ekf2: log optical flow gyro bias * ekf2: optical flow control always use provided flow gyro (with bias applied) * ekf2-flow: log flow gyro and gyro reference * ekf2-flow: support senrors with XY flow gyro --------- Co-authored-by: Daniel Agar <daniel@agar.ca> Co-authored-by: bresch <[brescianimathieu@gmail.com](mailto:brescianimathieu@gmail.com)>
18 lines
954 B
Plaintext
18 lines
954 B
Plaintext
uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample # the timestamp of the raw data (microseconds)
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float32[2] vel_body # velocity obtained from gyro-compensated and distance-scaled optical flow raw measurements in body frame(m/s)
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float32[2] vel_ne # same as vel_body but in local frame (m/s)
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float32[2] flow_uncompensated_integral # integrated optical flow measurement (rad)
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float32[2] flow_compensated_integral # integrated optical flow measurement compensated for angular motion (rad)
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float32[3] gyro_rate # gyro measurement synchronized with flow measurements (rad/s)
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float32[3] gyro_rate_integral # gyro measurement integrated to flow rate and synchronized with flow measurements (rad)
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float32[3] gyro_bias
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float32[3] ref_gyro
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float32[3] meas_gyro
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# TOPICS estimator_optical_flow_vel vehicle_optical_flow_vel
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