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msg: Clarify sign conventions for optical flow message

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1 parent a6696d3 commit ae55c8d87c20544f7bc7297dd46c75d74ee4a1c8 @priseborough priseborough committed with LorenzMeier Dec 29, 2016
Showing with 7 additions and 8 deletions.
  1. +7 −8 msg/optical_flow.msg
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@@ -1,16 +1,15 @@
-# Optical flow in NED body frame in SI units.
+# Optical flow in XYZ body frame in SI units.
# @see http://en.wikipedia.org/wiki/International_System_of_Units
-
+
uint8 sensor_id # id of the sensor emitting the flow value
-float32 pixel_flow_x_integral # accumulated optical flow in radians around x axis
-float32 pixel_flow_y_integral # accumulated optical flow in radians around y axis
-float32 gyro_x_rate_integral # accumulated gyro value in radians around x axis
-float32 gyro_y_rate_integral # accumulated gyro value in radians around y axis
-float32 gyro_z_rate_integral # accumulated gyro value in radians around z axis
+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
+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
+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
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
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