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This is important to align the flow with the IMU data and verify that the compensation is properly done
9 lines
646 B
Plaintext
9 lines
646 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_integral # gyro measurement integrated to flow rate and synchronized with flow measurements (rad)
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