Paparazzi UAS  v5.12_stable-4-g9b43e9b
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px4flow module

PX4FLOW optical flow sensor

No detailed description...

Example for airframe file

Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!

1 <module name="mavlink_decoder"/>
2 <module name="px4flow">
3  <configure name="PX4FLOW_NOISE_STDDEV" value="1.0" />
4  <configure name="USE_PX4FLOW_AGL" value="1" />
5  <configure name="PX4FLOW_COMPENSATE_ROTATION" value="1" />
6 </module>

Module configuration options

Configure Options

  • name: PX4FLOW_NOISE_STDDEV value: 1.0
    Description: standard deviation of the flow measurement (if known)
  • name: USE_PX4FLOW_AGL value: 1
    Description: update AGL measurements from onboard sonar
    Description: compensate AGL measurements for body rotation


Module functions

Init Functions

These initialization functions are called once on startup.

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

  • px4flow_downlink()
    • Frequency in Hz: 4
    • Autorun: FALSE
      Periodic function is started by user command.


Header Files

The following headers are automatically included in modules.h

Source Files

Raw px4flow.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="px4flow" dir="optical_flow">
<description>PX4FLOW optical flow sensor</description>
<configure name="PX4FLOW_NOISE_STDDEV" value="1.0" description="standard deviation of the flow measurement (if known)"/>
<configure name="USE_PX4FLOW_AGL" value="1" description="update AGL measurements from onboard sonar"/>
<configure name="PX4FLOW_COMPENSATE_ROTATION" value="1" description="compensate AGL measurements for body rotation"/>
<dl_settings NAME="optical flow">
<dl_settings NAME="px4flow">
<dl_setting MAX="1" MIN="0" STEP="1" VAR="px4flow_compensate_rotation" shortname="derotate_agl"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="px4flow_update_agl" shortname="update_agl"/>
<dl_setting MAX="10" MIN="0" STEP="0.1" VAR="px4flow_stddev" shortname="stddev"/>
<file name="px4flow.h"/>
<init fun="px4flow_init()"/>
<periodic fun="px4flow_downlink()" freq="4" autorun="FALSE"/> <!-- for debug -->
<configure name="PX4FLOW_NOISE_STDDEV" default="1.0"/>
<configure name="USE_PX4FLOW_AGL" default="1"/>
<configure name="PX4FLOW_COMPENSATE_ROTATION" default="1"/>
<define name="PX4FLOW_NOISE_STDDEV" value="$(PX4FLOW_NOISE_STDDEV)"/>
<define name="USE_PX4FLOW_AGL" value="$(USE_PX4FLOW_AGL)"/>
<file name="px4flow.c"/>