Hey

[GalBrandwine]

Hey!
Im trying to get OpticalFlow readings (before they are passing to the EKF):

Here what in initializing in my .launch file:
<rosparam> genericLogTopics: ["log_pos" , "log_rpy" , "log_ranges" ] genericLogTopicFrequencies: [20 , 20 , 20 ] genericLogTopic_log_pos_Variables: ["stateEstimate.x", "stateEstimate.y", "stateEstimate.z"] genericLogTopic_log_rpy_Variables: ["stabilizer.roll" , "stabilizer.pitch" , "stabilizer.yaw"] genericLogTopic_log_ranges_Variables: ["range.front", "range.back", "range.up", "range.left", "range.right" , "range.zrange" ] </rosparam>]

i need the X and Y reading of the optical_flow (before kelman estimator), how can i reach them?

thank you!
Gal.

[whoenig]

There is no real documentation right now, apart from the firmware source code. Perhaps you are interested in those variables: https://github.com/bitcraze/crazyflie-firmware/blob/master/src/deck/drivers/src/flowdeck_v1v2.c#L226-L227?

[wydmynd]

what you want is -
genericLogTopic_log_Variables: ["motion.deltaX" , "motion.deltaY" ]

[GalBrandwine]

Thanks!
(haven't tryed yet, but still)

Is there more attributes to "motion" that i can log?

Gal