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26 lines
1.2 KiB
Markdown
26 lines
1.2 KiB
Markdown
# VehicleOpticalFlowVel (UORB message)
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleOpticalFlowVel.msg)
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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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