63 #define I2C_FRAME_SIZE (sizeof(i2c_frame)) 80 #define I2C_INTEGRAL_FRAME_SIZE (sizeof(i2c_integral_frame)) int16_t pixel_flow_x_sum
latest x flow measurement in pixels*10 [pixels]
int16_t pixel_flow_y_sum
latest y flow measurement in pixels*10 [pixels]
uint16_t frame_count
counts created I2C frames [#frames]
int16_t pixel_flow_x_integral
accumulated flow in radians*10000 around x axis since last I2C readout [rad*10000] ...
int16_t flow_comp_m_y
y velocity*1000 [meters/sec]
int16_t ground_distance
Ground distance in meters*1000 [meters].
int16_t gyro_temperature
Temperature * 100 in centi-degrees Celsius [degcelsius*100].
uint16_t frame_count_since_last_readout
number of flow measurements since last I2C readout [#frames]
uint8_t sonar_timestamp
time since last sonar update [milliseconds]
uint32_t sonar_timestamp
time since last sonar update [microseconds]
struct i2c_integral_frame i2c_integral_frame
uint32_t integration_timespan
accumulation timespan in microseconds since last I2C readout [microseconds]
int16_t qual
Optical flow quality / confidence [0: bad, 255: maximum quality].
struct i2c_frame i2c_frame
uint16_t ground_distance
Ground distance in meters*1000 [meters*1000].
int16_t pixel_flow_y_integral
accumulated flow in radians*10000 around y axis since last I2C readout [rad*10000] ...
int16_t gyro_z_rate
latest gyro z rate [rad/sec]
uint8_t gyro_range
gyro range [0 .
int16_t gyro_x_rate_integral
accumulated gyro x rates in radians*10000 since last I2C readout [rad*10000]
int16_t gyro_z_rate_integral
accumulated gyro z rates in radians*10000 since last I2C readout [rad*10000]
int16_t gyro_y_rate_integral
accumulated gyro y rates in radians*10000 since last I2C readout [rad*10000]
uint8_t qual
averaged quality of accumulated flow values [0:bad quality;255: max quality]
int16_t gyro_y_rate
latest gyro y rate [rad/sec]
int16_t flow_comp_m_x
x velocity*1000 [meters/sec]
int16_t gyro_x_rate
latest gyro x rate [rad/sec]