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38 lines
1.5 KiB
Markdown
38 lines
1.5 KiB
Markdown
# SensorOpticalFlow (UORB message)
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorOpticalFlow.msg)
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```c
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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) optical flow in radians where a positive value is produced by a RH rotation of the sensor 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 about the body axis. Set to NaN if flow sensor does not have 3-axis gyro data.
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bool delta_angle_available
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float32 distance_m # (meters) Distance to the center of the flow field
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bool distance_available
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uint32 integration_timespan_us # (microseconds) accumulation timespan in microseconds
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uint8 quality # quality, 0: bad quality, 255: maximum quality
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uint32 error_count
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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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uint8 MODE_UNKNOWN = 0
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uint8 MODE_BRIGHT = 1
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uint8 MODE_LOWLIGHT = 2
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uint8 MODE_SUPER_LOWLIGHT = 3
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uint8 mode
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```
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