# estimator_optical_flow_vel (UORB message)

source file (opens new window)

uint64 timestamp            # time since system start (microseconds)
uint64 timestamp_sample         # the timestamp of the raw data (microseconds)

float32[2] vel_body         # velocity obtained from gyro-compensated and distance-scaled optical flow raw measurements in body frame(m/s)
float32[2] vel_ne           # same as vel_body but in local frame (m/s)
float32[2] flow_uncompensated_integral  # integrated optical flow measurement (rad)
float32[2] flow_compensated_integral    # integrated optical flow measurement compensated for angular motion (rad)
float32[3] gyro_rate_integral       # gyro measurement integrated to flow rate and synchronized with flow measurements (rad)