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79 lines
8.8 KiB
Markdown
79 lines
8.8 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# SensorOpticalFlow (повідомлення UORB)
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**TOPICS:** sensor_optical_flow
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## Fields
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| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
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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) 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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| <a id="fld_delta_angle"></a>delta_angle | `float32[3]` | | | (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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| <a id="fld_delta_angle_available"></a>delta_angle_available | `bool` | | | |
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| <a id="fld_distance_m"></a>distance_m | `float32` | | | (meters) Distance to the center of the flow field |
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| <a id="fld_distance_available"></a>distance_available | `bool` | | | |
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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` | | | quality, 0: bad quality, 255: maximum quality |
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| <a id="fld_error_count"></a>error_count | `uint32` | | | |
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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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| <a id="fld_mode"></a>mode | `uint8` | | | |
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## Constants
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| Назва | Тип | Значення | Опис |
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| ----------------------------------------------------------------------------------------------- | ------- | -------- | ---- |
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| <a id="#MODE_UNKNOWN"></a> MODE_UNKNOWN | `uint8` | 0 | |
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| <a id="#MODE_BRIGHT"></a> MODE_BRIGHT | `uint8` | 1 | |
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| <a id="#MODE_LOWLIGHT"></a> MODE_LOWLIGHT | `uint8` | 2 | |
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| <a id="#MODE_SUPER_LOWLIGHT"></a> MODE_SUPER_LOWLIGHT | `uint8` | 3 | |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorOpticalFlow.msg)
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:::details
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Click here to see original file
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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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:::
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