function

Estimation.FusionHorizon.packOpticalFlow

Flatten one optical-flow sample into a queue row

Public declarations

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

Role	Name	Type	Dimensions / attributes / default	Description
input	`measurement`	`Avionics.OpticalFlowSample`
output	`row`	`Real`	`[OpticalFlowMeasurementLength]`

Modelica declarations and implementation

Show parameters, interfaces and source

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

function packOpticalFlow "Flatten one optical-flow sample into a queue row"
  input Avionics.OpticalFlowSample measurement;
  output Real row[OpticalFlowMeasurementLength];
algorithm
  // integrationTime_s is carried like any other payload field and is NOT the
  // queue's own span. The queue delays a measurement; it does not change what
  // the measurement integrated over, and a flow sample fused at the horizon
  // still covers the exposure it was taken across.
  row := cat(1,
    {measurement.timestamp_s},
    measurement.integratedLineOfSight_rad,
    measurement.integratedLineOfSightCovariance_rad2[1, :],
    measurement.integratedLineOfSightCovariance_rad2[2, :],
    measurement.integratedGyroscopeBodyFlu_rad,
    measurement.integratedGyroscopeCovariance_rad2[1, :],
    measurement.integratedGyroscopeCovariance_rad2[2, :],
    measurement.integratedGyroscopeCovariance_rad2[3, :],
    {measurement.integrationTime_s,
     measurement.groundDistance_m,
     measurement.groundDistanceVariance_m2,
     measurement.quality});
end packOpticalFlow;