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author | dominiho <dominik.honegger@inf.ethz.ch> | 2014-10-28 12:35:20 +0100 |
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committer | dominiho <dominik.honegger@inf.ethz.ch> | 2014-10-28 12:35:20 +0100 |
commit | 276dc7fbbcc9d2b8baf65376b7ceb5e362ff978b (patch) | |
tree | 6fc3b5acdfddc85898e36a1dde88d73179aed635 /src/modules/uORB | |
parent | 1ff9e4d665d6333f3ee96c2e964ae42224d8a88a (diff) | |
download | px4-firmware-276dc7fbbcc9d2b8baf65376b7ceb5e362ff978b.tar.gz px4-firmware-276dc7fbbcc9d2b8baf65376b7ceb5e362ff978b.tar.bz2 px4-firmware-276dc7fbbcc9d2b8baf65376b7ceb5e362ff978b.zip |
added px4flow integral frame, adjusted px4flow i2c driver, adjusted postition_estimator_inav
Diffstat (limited to 'src/modules/uORB')
-rw-r--r-- | src/modules/uORB/topics/optical_flow.h | 23 |
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 */ + + + }; |