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53 lines
3.6 KiB
Markdown
53 lines
3.6 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# VehicleOpticalFlowVel (UORB message)
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**TOPICS:** estimator_optical_flow_vel vehicle_optical_flow_vel
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## Fields
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| Name | Type | Unit [Frame] | Range/Enum | Description |
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| ----------------------- | ------------ | ------------ | ---------- | --------------------------------------------------------------------------------------------------------------------- |
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| timestamp | `uint64` | | | time since system start (microseconds) |
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| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
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| vel_body | `float32[2]` | | | velocity obtained from gyro-compensated and distance-scaled optical flow raw measurements in body frame(m/s) |
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| vel_ne | `float32[2]` | | | same as vel_body but in local frame (m/s) |
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| vel_body_filtered | `float32[2]` | | | filtered velocity obtained from gyro-compensated and distance-scaled optical flow raw measurements in body frame(m/s) |
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| vel_ne_filtered | `float32[2]` | | | filtered same as vel_body_filtered but in local frame (m/s) |
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| flow_rate_uncompensated | `float32[2]` | | | integrated optical flow measurement (rad/s) |
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| flow_rate_compensated | `float32[2]` | | | integrated optical flow measurement compensated for angular motion (rad/s) |
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| gyro_rate | `float32[3]` | | | gyro measurement synchronized with flow measurements (rad/s) |
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| gyro_bias | `float32[3]` | | |
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| ref_gyro | `float32[3]` | | |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleOpticalFlowVel.msg)
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::: details Click here to see original file
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```c
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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] vel_body_filtered # filtered 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_filtered # filtered same as vel_body_filtered but in local frame (m/s)
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float32[2] flow_rate_uncompensated # integrated optical flow measurement (rad/s)
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float32[2] flow_rate_compensated # integrated optical flow measurement compensated for angular motion (rad/s)
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float32[3] gyro_rate # gyro measurement synchronized with flow measurements (rad/s)
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float32[3] gyro_bias
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float32[3] ref_gyro
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# TOPICS estimator_optical_flow_vel vehicle_optical_flow_vel
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```
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:::
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