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...

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

Variables
struct mavlink_optical_flow	optical_flow
bool	optical_flow_available

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 guarentee alignment

Definition at line 39 of file px4flow.h.

Data Fields
float	flow_comp_m_x	Flow in meters in x-sensor direction, angular-speed compensated.
float	flow_comp_m_y	Flow in meters in y-sensor direction, angular-speed compensated.
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)

Function Documentation

void px4flow_downlink

(

void

)

Downlink message for debug.

Definition at line 83 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, and mavlink_optical_flow::sensor_id.

void px4flow_init

(

void

)

Initialization function.

Definition at line 64 of file px4flow.c.

References mavlink_msg_req::callback, decode_optical_flow_msg(), MAVLINK_OPTICAL_FLOW_MSG_ID, mavlink_register_msg(), mavlink_tp, mavlink_msg_req::msg, mavlink_msg_req::msg_id, optical_flow, optical_flow_available, mavlink_message::payload, and req.

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Variable Documentation

struct mavlink_optical_flow optical_flow

Definition at line 33 of file px4flow.c.

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

bool optical_flow_available

Definition at line 34 of file px4flow.c.

Referenced by decode_optical_flow_msg(), and px4flow_init().