diff options
Diffstat (limited to 'src/drivers/drv_px4flow.h')
-rw-r--r-- | src/drivers/drv_px4flow.h | 16 |
1 files changed, 14 insertions, 2 deletions
diff --git a/src/drivers/drv_px4flow.h b/src/drivers/drv_px4flow.h index bef02d54e..76ec55c3e 100644 --- a/src/drivers/drv_px4flow.h +++ b/src/drivers/drv_px4flow.h @@ -47,9 +47,17 @@ #define PX4FLOW_DEVICE_PATH "/dev/px4flow" /** + * @addtogroup topics + * @{ + */ + +/** * Optical flow in NED body frame in SI units. * * @see http://en.wikipedia.org/wiki/International_System_of_Units + * + * @warning If possible the usage of the raw flow and performing rotation-compensation + * using the autopilot angular rate estimate is recommended. */ struct px4flow_report { @@ -57,14 +65,18 @@ struct px4flow_report { 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 flow_comp_x_m; /**< speed over ground in meters per second, rotation-compensated */ + float flow_comp_y_m; /**< speed over ground in meters per second, 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 */ uint8_t sensor_id; /**< id of the sensor emitting the flow value */ }; +/** + * @} + */ + /* * ObjDev tag for px4flow data. */ |