optical_flow (UORB message)

Optical flow in XYZ body frame in SI units. http://en.wikipedia.org/wiki/International_System_of_Units

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# Optical flow in XYZ body frame in SI units.
# http://en.wikipedia.org/wiki/International_System_of_Units

uint64 timestamp        # time since system start (microseconds)

uint8 sensor_id         # id of the sensor emitting the flow value
float32 pixel_flow_x_integral   # accumulated optical flow in radians where a positive value is produced by a RH rotation about the X body axis
float32 pixel_flow_y_integral   # accumulated optical flow in radians where a positive value is produced by a RH rotation about the Y body axis
float32 gyro_x_rate_integral    # accumulated gyro value in radians where a positive value is produced by a RH rotation about the X body axis. Set to NaN if flow sensor does not have 3-axis gyro data.
float32 gyro_y_rate_integral    # accumulated gyro value in radians where a positive value is produced by a RH rotation about the Y body axis. Set to NaN if flow sensor does not have 3-axis gyro data.
float32 gyro_z_rate_integral    # accumulated gyro value in radians where a positive value is produced by a RH rotation about the Z body axis. Set to NaN if flow sensor does not have 3-axis gyro data.
float32 ground_distance_m   # Altitude / distance to ground in meters
uint32 integration_timespan # accumulation timespan in microseconds
uint32 time_since_last_sonar_update # time since last sonar update in microseconds
uint16 frame_count_since_last_readout   # number of accumulated frames in timespan
int16 gyro_temperature  # Temperature * 100 in centi-degrees Celsius
uint8 quality   # Average of quality of accumulated frames, 0: bad quality, 255: maximum quality

float32 max_flow_rate # Magnitude of maximum angular which the optical flow sensor can measure reliably
float32 min_ground_distance # Minimum distance from ground at which the optical flow sensor operates reliably
float32 max_ground_distance # Maximum distance from ground at which the optical flow sensor operates reliably


uint8 MODE_UNKNOWN        = 0
uint8 MODE_BRIGHT         = 1
uint8 MODE_LOWLIGHT       = 2
uint8 MODE_SUPER_LOWLIGHT = 3

uint8 mode