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59 lines
5.6 KiB
Markdown
59 lines
5.6 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# VehicleOpticalFlow (UORB message)
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Optical flow in XYZ body frame in SI units.
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**TOPICS:** vehicle_optical_flow
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## Fields
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| 参数名 | 类型 | Unit [Frame] | Range/Enum | 描述 |
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| ----------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| timestamp | `uint64` | | | time since system start (microseconds) |
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| timestamp_sample | `uint64` | | | |
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| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles |
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| pixel_flow | `float32[2]` | | | (radians) accumulated optical flow in radians where a positive value is produced by a RH rotation about the body axis |
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| delta_angle | `float32[3]` | | | (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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| distance_m | `float32` | | | (meters) Distance to the center of the flow field (NAN if unavailable) |
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| integration_timespan_us | `uint32` | | | (microseconds) accumulation timespan in microseconds |
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| quality | `uint8` | | | Average of quality of accumulated frames, 0: bad quality, 255: maximum quality |
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| max_flow_rate | `float32` | | | (radians/s) Magnitude of maximum angular which the optical flow sensor can measure reliably |
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| min_ground_distance | `float32` | | | (meters) Minimum distance from ground at which the optical flow sensor operates reliably |
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| max_ground_distance | `float32` | | | (meters) Maximum distance from ground at which the optical flow sensor operates reliably |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleOpticalFlow.msg)
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:::details
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Click here to see original file
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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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:::
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