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54 lines
5.2 KiB
Markdown
54 lines
5.2 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# VehicleOpticalFlowVel (повідомлення UORB)
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**TOPICS:** estimator_optical_flow_vel vehicle_optical_flow_vel
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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` | | | the timestamp of the raw data (microseconds) |
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| <a id="fld_vel_body"></a>vel_body | `float32[2]` | | | velocity obtained from gyro-compensated and distance-scaled optical flow raw measurements in body frame(m/s) |
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| <a id="fld_vel_ne"></a>vel_ne | `float32[2]` | | | same as vel_body but in local frame (m/s) |
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| <a id="fld_vel_body_filtered"></a>vel_body_filtered | `float32[2]` | | | filtered velocity obtained from gyro-compensated and distance-scaled optical flow raw measurements in body frame(m/s) |
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| <a id="fld_vel_ne_filtered"></a>vel_ne_filtered | `float32[2]` | | | filtered same as vel_body_filtered but in local frame (m/s) |
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| <a id="fld_flow_rate_uncompensated"></a>flow_rate_uncompensated | `float32[2]` | | | integrated optical flow measurement (rad/s) |
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| <a id="fld_flow_rate_compensated"></a>flow_rate_compensated | `float32[2]` | | | integrated optical flow measurement compensated for angular motion (rad/s) |
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| <a id="fld_gyro_rate"></a>gyro_rate | `float32[3]` | | | gyro measurement synchronized with flow measurements (rad/s) |
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| <a id="fld_gyro_bias"></a>gyro_bias | `float32[3]` | | | |
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| <a id="fld_ref_gyro"></a>ref_gyro | `float32[3]` | | | |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleOpticalFlowVel.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 # 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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:::
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