added px4flow integral frame, adjusted px4flow i2c driver, adjusted postition_estimator_inav

1 files changed, 14 insertions, 9 deletions

diff --git a/src/modules/uORB/topics/optical_flow.h b/src/modules/uORB/topics/optical_flow.h
index 0196ae86b..f3731d213 100644
--- a/src/modules/uORB/topics/optical_flow.h
+++ b/src/modules/uORB/topics/optical_flow.h
@@ -55,16 +55,21 @@
  */
 struct optical_flow_s {
 
-	uint64_t timestamp;		/**< in microseconds since system start          */
-
-	uint64_t flow_timestamp;		/**< timestamp from flow sensor */
-	int16_t flow_raw_x;		/**< flow in pixels in X direction, not rotation-compensated */
-	int16_t flow_raw_y;		/**< flow in pixels in Y direction, not rotation-compensated */
-	float flow_comp_x_m;		/**< speed over ground in meters, rotation-compensated */
-	float flow_comp_y_m;		/**< speed over ground in meters, rotation-compensated */
-	float ground_distance_m;	/**< Altitude / distance to ground in meters */
-	uint8_t	quality;		/**< Quality of the measurement, 0: bad quality, 255: maximum quality */
+	uint64_t timestamp;		/**< in microseconds since system start  */
 	uint8_t sensor_id;		/**< id of the sensor emitting the flow value */
+	float pixel_flow_x_integral; /**< accumulated optical flow in radians around x axis */
+	float pixel_flow_y_integral; /**< accumulated optical flow in radians around y axis */
+	float gyro_x_rate_integral;	 /**< accumulated gyro value in radians around x axis */
+	float gyro_y_rate_integral;  /**< accumulated gyro value in radians around y axis */
+	float gyro_z_rate_integral;   /**< accumulated gyro value in radians around z axis */
+	float ground_distance_m;	 /**< Altitude / distance to ground in meters */
+	uint32_t integration_timespan; /**<accumulation timespan in microseconds     */
+	uint32_t time_since_last_sonar_update;/**< time since last sonar update in microseconds */
+	uint16_t frame_count_since_last_readout;/**< number of accumulated frames in timespan */
+	uint8_t	quality;		/**< Average of quality of accumulated frames, 0: bad quality, 255: maximum quality */
+
+
+
 
 };