sensor_params_flow.c File Reference

Go to the source code of this file.

Functions
	PARAM_DEFINE_INT32 (SENS_FLOW_ROT, 6)
	PX4Flow board rotation. More...
	PARAM_DEFINE_FLOAT (SENS_FLOW_MINHGT, 0.7f)
	Minimum height above ground when reliant on optical flow. More...
	PARAM_DEFINE_FLOAT (SENS_FLOW_MAXHGT, 3.0f)
	Maximum height above ground when reliant on optical flow. More...
	PARAM_DEFINE_FLOAT (SENS_FLOW_MAXR, 2.5f)
	Magnitude of maximum angular flow rate reliably measurable by the optical flow sensor. More...

Function Documentation

PARAM_DEFINE_FLOAT() [1/3]

PARAM_DEFINE_FLOAT	(	SENS_FLOW_MINHGT	,
		0.	7f
	)

Minimum height above ground when reliant on optical flow.

This parameter defines the minimum distance from ground at which the optical flow sensor operates reliably. The sensor may be usable below this height, but accuracy will progressively reduce to loss of focus.

m 0.0 1.0 0.1 1 Sensor Calibration

PARAM_DEFINE_FLOAT() [2/3]

PARAM_DEFINE_FLOAT	(	SENS_FLOW_MAXHGT	,
		3.	0f
	)

Maximum height above ground when reliant on optical flow.

This parameter defines the maximum distance from ground at which the optical flow sensor operates reliably. The height setpoint will be limited to be no greater than this value when the navigation system is completely reliant on optical flow data and the height above ground estimate is valid. The sensor may be usable above this height, but accuracy will progressively degrade.

m 1.0 25.0 0.1 1 Sensor Calibration

PARAM_DEFINE_FLOAT() [3/3]

PARAM_DEFINE_FLOAT	(	SENS_FLOW_MAXR	,
		2.	5f
	)

Magnitude of maximum angular flow rate reliably measurable by the optical flow sensor.

Optical flow data will not fused by the estimators if the magnitude of the flow rate exceeds this value and control loops will be instructed to limit ground speed such that the flow rate produced by movement over ground is less than 50% of this value.

rad/s 1.0 2 Sensor Calibration

PARAM_DEFINE_INT32()

PARAM_DEFINE_INT32	(	SENS_FLOW_ROT	,
		6
	)

PX4Flow board rotation.

This parameter defines the yaw rotation of the PX4FLOW board relative to the vehicle body frame. Zero rotation is defined as X on flow board pointing towards front of vehicle. The recommneded installation default for the PX4FLOW board is with the Y axis forward (270 deg yaw).

0 No rotation 1 Yaw 45° 2 Yaw 90° 3 Yaw 135° 4 Yaw 180° 5 Yaw 225° 6 Yaw 270° 7 Yaw 315°

true

Sensors