From 13fc6703862862f4263d8d5d085b7a16b87190e1 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 28 Apr 2013 09:54:11 +0200 Subject: Moved last libs, drivers and headers, cleaned up IO build --- src/modules/uORB/topics/optical_flow.h | 77 ++++++++++++++++++++++++++++++++++ 1 file changed, 77 insertions(+) create mode 100644 src/modules/uORB/topics/optical_flow.h (limited to 'src/modules/uORB/topics/optical_flow.h') diff --git a/src/modules/uORB/topics/optical_flow.h b/src/modules/uORB/topics/optical_flow.h new file mode 100644 index 000000000..c854f0079 --- /dev/null +++ b/src/modules/uORB/topics/optical_flow.h @@ -0,0 +1,77 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file optical_flow.h + * Definition of the optical flow uORB topic. + */ + +#ifndef TOPIC_OPTICAL_FLOW_H_ +#define TOPIC_OPTICAL_FLOW_H_ + +#include +#include +#include "../uORB.h" + +/** + * @addtogroup topics + */ + +/** + * Optical flow in NED body frame in SI units. + * + * @see http://en.wikipedia.org/wiki/International_System_of_Units + */ +struct optical_flow_s { + + uint64_t timestamp; /**< in microseconds since system start */ + + uint16_t flow_raw_x; /**< flow in pixels in X direction, not rotation-compensated */ + uint16_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 */ + uint8_t sensor_id; /**< id of the sensor emitting the flow value */ + +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(optical_flow); + +#endif -- cgit v1.2.3