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58 lines
4.7 KiB
Markdown
58 lines
4.7 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# VehicleOpticalFlow (UORB message)
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Optical flow in XYZ body frame in SI units.
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**TOPICS:** vehicle_optical_flow
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## Fields
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| Name | Type | Unit [Frame] | Range/Enum | Description |
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| --------------------------------------------------------------- | ------------ | ------------ | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------- |
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| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
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| <a id="fld_timestamp_sample"></a>timestamp_sample | `uint64` | | |
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| <a id="fld_device_id"></a>device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles |
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| <a id="fld_pixel_flow"></a>pixel_flow | `float32[2]` | | | (radians) accumulated optical flow in radians where a positive value is produced by a RH rotation about the body axis |
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| <a id="fld_delta_angle"></a>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) |
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| <a id="fld_distance_m"></a>distance_m | `float32` | | | (meters) Distance to the center of the flow field (NAN if unavailable) |
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| <a id="fld_integration_timespan_us"></a>integration_timespan_us | `uint32` | | | (microseconds) accumulation timespan in microseconds |
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| <a id="fld_quality"></a>quality | `uint8` | | | Average of quality of accumulated frames, 0: bad quality, 255: maximum quality |
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| <a id="fld_max_flow_rate"></a>max_flow_rate | `float32` | | | (radians/s) Magnitude of maximum angular which the optical flow sensor can measure reliably |
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| <a id="fld_min_ground_distance"></a>min_ground_distance | `float32` | | | (meters) Minimum distance from ground at which the optical flow sensor operates reliably |
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| <a id="fld_max_ground_distance"></a>max_ground_distance | `float32` | | | (meters) Maximum distance from ground at which the optical flow sensor operates reliably |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleOpticalFlow.msg)
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::: details Click here to see original file
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```c
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# Optical flow in XYZ body frame in SI units.
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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) accumulated optical flow in radians where a positive value is produced by a RH rotation 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 of the sensor about the body axis. (NAN if unavailable)
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float32 distance_m # (meters) Distance to the center of the flow field (NAN if unavailable)
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uint32 integration_timespan_us # (microseconds) accumulation timespan in microseconds
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uint8 quality # Average of quality of accumulated frames, 0: bad quality, 255: maximum quality
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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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```
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:::
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