mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
54 lines
4.7 KiB
Markdown
54 lines
4.7 KiB
Markdown
---
|
|
pageClass: is-wide-page
|
|
---
|
|
|
|
# VehicleOpticalFlowVel (повідомлення UORB)
|
|
|
|
**TOPICS:** estimator_optical_flow_vel vehicle_optical_flow_vel
|
|
|
|
## Fields
|
|
|
|
| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
|
|
| ----------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------- |
|
|
| timestamp | `uint64` | | | time since system start (microseconds) |
|
|
| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
|
|
| vel_body | `float32[2]` | | | velocity obtained from gyro-compensated and distance-scaled optical flow raw measurements in body frame(m/s) |
|
|
| vel_ne | `float32[2]` | | | same as vel_body but in local frame (m/s) |
|
|
| vel_body_filtered | `float32[2]` | | | filtered velocity obtained from gyro-compensated and distance-scaled optical flow raw measurements in body frame(m/s) |
|
|
| vel_ne_filtered | `float32[2]` | | | filtered same as vel_body_filtered but in local frame (m/s) |
|
|
| flow_rate_uncompensated | `float32[2]` | | | integrated optical flow measurement (rad/s) |
|
|
| flow_rate_compensated | `float32[2]` | | | integrated optical flow measurement compensated for angular motion (rad/s) |
|
|
| gyro_rate | `float32[3]` | | | gyro measurement synchronized with flow measurements (rad/s) |
|
|
| gyro_bias | `float32[3]` | | | |
|
|
| ref_gyro | `float32[3]` | | | |
|
|
|
|
## Source Message
|
|
|
|
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleOpticalFlowVel.msg)
|
|
|
|
:::details
|
|
Click here to see original file
|
|
|
|
```c
|
|
uint64 timestamp # time since system start (microseconds)
|
|
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
|
|
|
|
float32[2] vel_body # velocity obtained from gyro-compensated and distance-scaled optical flow raw measurements in body frame(m/s)
|
|
float32[2] vel_ne # same as vel_body but in local frame (m/s)
|
|
|
|
float32[2] vel_body_filtered # filtered velocity obtained from gyro-compensated and distance-scaled optical flow raw measurements in body frame(m/s)
|
|
float32[2] vel_ne_filtered # filtered same as vel_body_filtered but in local frame (m/s)
|
|
|
|
float32[2] flow_rate_uncompensated # integrated optical flow measurement (rad/s)
|
|
float32[2] flow_rate_compensated # integrated optical flow measurement compensated for angular motion (rad/s)
|
|
|
|
float32[3] gyro_rate # gyro measurement synchronized with flow measurements (rad/s)
|
|
|
|
float32[3] gyro_bias
|
|
float32[3] ref_gyro
|
|
|
|
# TOPICS estimator_optical_flow_vel vehicle_optical_flow_vel
|
|
```
|
|
|
|
:::
|