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 *
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 *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
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/**
 * @file optical_flow.h
 * Definition of the optical flow uORB topic.
 */

#ifndef TOPIC_OPTICAL_FLOW_H_
#define TOPIC_OPTICAL_FLOW_H_

#include <stdint.h>
#include <stdbool.h>
#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  */
	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 */
	int16_t gyro_temperature;/**< 	Temperature * 100 in centi-degrees Celsius */
	uint8_t	quality;		/**< Average of quality of accumulated frames, 0: bad quality, 255: maximum quality */




};

/**
 * @}
 */

/* register this as object request broker structure */
ORB_DECLARE(optical_flow);

#endif