Sensoropticalflow

SensorOpticalFlow (UORB message)

source file

```c uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample

uint32 device_id # unique device ID for the sensor that does not change between power cycles

float32[2] pixel_flow # (radians) optical flow in radians where a positive value is produced by a RH rotation about the body axis

float32[3] delta_angle # (radians) accumulated gyro radians where a positive value is produced by a RH rotation about the body axis. Set to NaN if flow sensor does not have 3-axis gyro data. bool delta_angle_available

float32 distance_m # (meters) Distance to the center of the flow field bool distance_available

uint32 integration_timespan_us # (microseconds) accumulation timespan in microseconds

uint8 quality # quality, 0: bad quality, 255: maximum quality

uint32 error_count

float32 max_flow_rate # (radians/s) Magnitude of maximum angular which the optical flow sensor can measure reliably

float32 min_ground_distance # (meters) Minimum distance from ground at which the optical flow sensor operates reliably float32 max_ground_distance # (meters) Maximum distance from ground at which the optical flow sensor operates reliably

uint8 MODE_UNKNOWN = 0 uint8 MODE_BRIGHT = 1 uint8 MODE_LOWLIGHT = 2 uint8 MODE_SUPER_LOWLIGHT = 3

uint8 mode

```