Paparazzi UAS  v5.15_devel-88-gb3ad7fe
Paparazzi is a free software Unmanned Aircraft System.
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inter_thread_data.h
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1 /*
2  * Copyright (C) 2015 The Paparazzi Community
3  *
4  * This file is part of Paparazzi.
5  *
6  * Paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * Paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with Paparazzi; see the file COPYING. If not, see
18  * <http://www.gnu.org/licenses/>.
19  */
20 
29 #ifndef _INTER_THREAD_DATA_H
30 #define _INTER_THREAD_DATA_H
31 
33 #include "math/pprz_algebra_int.h"
34 
35 
36 /* The result calculated from the opticflow */
38  float fps;
41 
42  // Camera frame with the origin in the top left corner of the image
47 
50 
51  float div_size;
52 
54  float divergence;
55 
57 };
58 
59 #endif
60 
61 
unsigned short uint16_t
Definition: types.h:16
int16_t flow_y
Flow in y direction from the camera (in subpixels) with Y positive to the bottom. ...
int16_t flow_der_y
The derotated flow calculation in the y direction (in subpixels)
float div_size
Divergence as determined with the size_divergence script.
struct FloatVect3 vel_body
The velocity in body frame (m/s) with X positive to the front of the aircraft, Y positive to the righ...
uint16_t tracked_cnt
The amount of tracked corners.
Paparazzi floating point algebra.
signed short int16_t
Definition: types.h:17
struct FloatVect3 vel_cam
The velocity in camera frame (m/s)
uint16_t corner_cnt
The amount of coners found by FAST9.
float fps
Frames per second of the optical flow calculation.
int16_t flow_x
Flow in x direction from the camera (in subpixels) with X positive to the right.
float noise_measurement
noise of measurement, for state filter
float divergence
Divergence as determined with a linear flow fit.
float surface_roughness
Surface roughness as determined with a linear optical flow fit.
Paparazzi fixed point algebra.
int16_t flow_der_x
The derotated flow calculation in the x direction (in subpixels)