PX4-Autopilot/docs/en/msg_docs/VehicleOpticalFlow.md

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VehicleOpticalFlow (UORB message)

Optical flow in XYZ body frame in SI units.

TOPICS: vehicle_optical_flow

Fields

Name	Type	Unit [Frame]	Range/Enum	Description
timestamp	uint64			time since system start (microseconds)
timestamp_sample	uint64
device_id	uint32			unique device ID for the sensor that does not change between power cycles
pixel_flow	float32[2]			(radians) accumulated optical flow in radians where a positive value is produced by a RH rotation about the body axis
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)
distance_m	float32			(meters) Distance to the center of the flow field (NAN if unavailable)
integration_timespan_us	uint32			(microseconds) accumulation timespan in microseconds
quality	uint8			Average of quality of accumulated frames, 0: bad quality, 255: maximum quality
max_flow_rate	float32			(radians/s) Magnitude of maximum angular which the optical flow sensor can measure reliably
min_ground_distance	float32			(meters) Minimum distance from ground at which the optical flow sensor operates reliably
max_ground_distance	float32			(meters) Maximum distance from ground at which the optical flow sensor operates reliably

Source Message

Source file (GitHub)

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# Optical flow in XYZ body frame in SI units.

uint64 timestamp               # time since system start (microseconds)
uint64 timestamp_sample

uint32 device_id               # unique device ID for the sensor that does not change between power cycles

float32[2] pixel_flow          # (radians) accumulated optical flow in radians where a positive value is produced by a RH rotation about the body axis

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)

float32 distance_m             # (meters) Distance to the center of the flow field (NAN if unavailable)

uint32 integration_timespan_us # (microseconds) accumulation timespan in microseconds

uint8 quality                  # Average of quality of accumulated frames, 0: bad quality, 255: maximum quality

float32 max_flow_rate          # (radians/s) Magnitude of maximum angular which the optical flow sensor can measure reliably

float32 min_ground_distance    # (meters) Minimum distance from ground at which the optical flow sensor operates reliably
float32 max_ground_distance    # (meters) Maximum distance from ground at which the optical flow sensor operates reliably

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