record

Avionics.OpticalFlowSample

Raw integrated optical flow with co-timed gyro and downward range

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default	Description
field	`valid`	`Boolean`
field	`fresh`	`Boolean`
field	`timestamp_s`	`Real`	`(unit = "s")`
field	`integratedLineOfSight_rad`	`Real`	`[2](each unit = "rad")`	Right-handed scene rotations about camera/body FLU x and y over integrationTime_s. For a nadir camera, forward motion produces +y and left motion produces -x after rotation compensation
field	`integratedLineOfSightCovariance_rad2`	`Real`	`[2, 2](each unit = "rad2")`
field	`integratedGyroscopeBodyFlu_rad`	`Real`	`[3](each unit = "rad")`	Actual FLU body-angle integral over the same exposure interval; add x/y to line-of-sight flow to remove camera rotation
field	`integratedGyroscopeCovariance_rad2`	`Real`	`[3, 3](each unit = "rad2")`
field	`integrationTime_s`	`Real`	`(unit = "s")`
field	`groundDistance_m`	`Real`	`(unit = "m")`
field	`groundDistanceVariance_m2`	`Real`	`(unit = "m2")`	Variance of the range along the camera boresight
field	`quality`	`Real`	`(min = 0.0, max = 1.0)`	Normalized driver quality indicator

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

record OpticalFlowSample
    "Raw integrated optical flow with co-timed gyro and downward range"
    Boolean valid;
    Boolean fresh;
    Real timestamp_s(unit = "s");
    Real integratedLineOfSight_rad[2](each unit = "rad")
      "Right-handed scene rotations about camera/body FLU x and y over integrationTime_s. For a nadir camera, forward motion produces +y and left motion produces -x after rotation compensation";
    Real integratedLineOfSightCovariance_rad2[2, 2](each unit = "rad2");
    Real integratedGyroscopeBodyFlu_rad[3](each unit = "rad")
      "Actual FLU body-angle integral over the same exposure interval; add x/y to line-of-sight flow to remove camera rotation";
    Real integratedGyroscopeCovariance_rad2[3, 3](each unit = "rad2");
    Real integrationTime_s(unit = "s");
    Real groundDistance_m(unit = "m");
    Real groundDistanceVariance_m2(unit = "m2")
      "Variance of the range along the camera boresight";
    Real quality(min = 0.0, max = 1.0)
      "Normalized driver quality indicator";
  end OpticalFlowSample;