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83 lines
3.1 KiB
83 lines
3.1 KiB
13 years ago
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Author: @author Lorenz Meier <lm@inf.ethz.ch>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file optical_flow.h
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* Definition of the optical flow uORB topic.
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*/
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#ifndef TOPIC_OPTICAL_FLOW_H_
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#define TOPIC_OPTICAL_FLOW_H_
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#include <stdint.h>
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#include <stdbool.h>
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#include "../uORB.h"
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/**
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* @addtogroup topics
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*/
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/**
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* Optical flow in NED body frame in SI units.
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*
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* @see http://en.wikipedia.org/wiki/International_System_of_Units
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*/
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struct optical_flow_s {
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/*
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* Actual data, this is specific to the type of data which is stored in this struct
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* A line containing L0GME will be added by the Python logging code generator to the
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* logged dataset.
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*/
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uint64_t timestamp; /**< in microseconds since system start */
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uint16_t flow_raw_x; /**< flow in pixels in X direction, not rotation-compensated */
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uint16_t flow_raw_y; /**< flow in pixels in Y direction, not rotation-compensated */
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float flow_comp_x_m; /**< speed over ground in meters, rotation-compensated */
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float flow_comp_y_m; /**< speed over ground in meters, rotation-compensated */
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float ground_distance_m; /**< Altitude / distance to ground in meters */
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uint8_t quality; /**< Quality of the measurement, 0: bad quality, 255: maximum quality */
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uint8_t sensor_id; /**< id of the sensor emitting the flow value */
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};
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/**
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* @}
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*/
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/* register this as object request broker structure */
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ORB_DECLARE(optical_flow);
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#endif
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