px4flow.h File Reference

driver for the optical flow sensor PX4FLOW More...

#include "std.h"

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Data Structures
struct	mavlink_optical_flow
	Mavlink optical flow structure. More...
struct	mavlink_optical_flow_rad
	Mavlink optical flow rad structure. More...
struct	mavlink_heartbeat

Functions
void	px4flow_init (void)
	Initialization function. More...
void	px4flow_downlink (void)
	Downlink message for debug. More...

Variables
bool	px4flow_update_agl
bool	px4flow_compensate_rotation
float	px4flow_stddev
struct mavlink_heartbeat	heartbeat
struct mavlink_optical_flow	optical_flow
struct mavlink_optical_flow_rad	optical_flow_rad

Detailed Description

driver for the optical flow sensor PX4FLOW

Sensor from the PIXHAWK project

Definition in file px4flow.h.

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Data Structure Documentation

struct mavlink_optical_flow

Mavlink optical flow structure.

Using MAVLINK v1.0 generated code: Message ID 100 Fields are ordered to guarantee alignment

Definition at line 45 of file px4flow.h.

Data Fields
float	flow_comp_m_x	Flow in meters in x-sensor direction, angular-speed compensated [meters/sec].
float	flow_comp_m_y	Flow in meters in y-sensor direction, angular-speed compensated [meters/sec].
int16_t	flow_x	Flow in pixels in x-sensor direction.
int16_t	flow_y	Flow in pixels in y-sensor direction.
float	ground_distance	Ground distance in meters. Positive value: distance known. Negative value: Unknown distance.
uint8_t	quality	Optical flow quality / confidence. 0: bad, 255: maximum quality.
uint8_t	sensor_id	Sensor ID.
uint64_t	time_usec	Timestamp (UNIX)

struct mavlink_optical_flow_rad

Mavlink optical flow rad structure.

Using MAVLINK v1.0 generated code: Message ID 106 Fields are ordered to guarantee alignment

Definition at line 61 of file px4flow.h.

Data Fields
float	distance
float	integrated_x
float	integrated_xgyro
float	integrated_y
float	integrated_ygyro
float	integrated_zgyro
uint32_t	integration_time_us
uint8_t	quality
uint8_t	sensor_id
int16_t	temperature
uint32_t	time_delta_distance_us
uint64_t	time_usec

struct mavlink_heartbeat

Definition at line 95 of file px4flow.h.

Data Fields
uint8_t	autopilot
uint8_t	base_mode
uint32_t	custom_mode
uint8_t	mavlink_version
uint8_t	system_status
uint8_t	type

Function Documentation

void px4flow_downlink

(

void

)

Downlink message for debug.

Definition at line 159 of file px4flow.c.

References DefaultChannel, DefaultDevice, mavlink_optical_flow::flow_comp_m_x, mavlink_optical_flow::flow_comp_m_y, mavlink_optical_flow::flow_x, mavlink_optical_flow::flow_y, mavlink_optical_flow::ground_distance, optical_flow, mavlink_optical_flow::quality, mavlink_optical_flow::sensor_id, and mavlink_optical_flow::time_usec.

void px4flow_init

(

void

)

Initialization function.

Definition at line 132 of file px4flow.c.

References mavlink_msg_req::callback, decode_heartbeat_msg(), decode_optical_flow_msg(), decode_optical_flow_rad_msg(), heartbeat, MAVLINK_OPTICAL_FLOW_MSG_ID, MAVLINK_OPTICAL_FLOW_RAD_MSG_ID, MAVLINK_OPTICAL_HEARTBEAT_MSG_ID, mavlink_register_msg(), mavlink_tp, mavlink_msg_req::msg, mavlink_msg_req::msg_id, optical_flow, optical_flow_rad, mavlink_message::payload, px4flow_compensate_rotation, px4flow_stddev, px4flow_update_agl, req_flow, req_flow_rad, and req_heartbeat.

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Variable Documentation

struct mavlink_heartbeat heartbeat

Definition at line 42 of file px4flow.c.

Referenced by px4flow_init().

struct mavlink_optical_flow optical_flow

Definition at line 43 of file px4flow.c.

Referenced by decode_optical_flow_msg(), px4flow_downlink(), and px4flow_init().

struct mavlink_optical_flow_rad optical_flow_rad

Definition at line 44 of file px4flow.c.

Referenced by px4flow_init().

bool px4flow_compensate_rotation

Definition at line 71 of file px4flow.c.

Referenced by decode_optical_flow_msg(), and px4flow_init().

float px4flow_stddev

Definition at line 74 of file px4flow.c.

Referenced by decode_optical_flow_msg(), and px4flow_init().

bool px4flow_update_agl

Definition at line 68 of file px4flow.c.

Referenced by decode_optical_flow_msg(), and px4flow_init().