Selfstate (px_selfstate)

float degx

Self degree around degX, which is represented in 180 degrees notation. Please refer to Principal Axes for definition.

float degy

Self degree around degY, which is represented in 180 degrees notation. Please refer to Principal Axes for definition.

float degz

Self degree around degZ, which is represented in 180 degrees notation. Please refer to Principal Axes for definition.

float vision_tx

Self location of X axis estimated by visual feature points using bottom camera, which is represented by image coordinate.

float vision_ty

Self location of Y axis estimated by visual feature points using bottom camera, which is represented by image coordinate.

float vision_tz

Self location of Z axis estimated by visual feature points using bottom camera, which is represented by image coordinate.

float vision_vx

Self velocity of X axis estimated by visual feature points using bottom camera, which is represented by image coordinate.

float vision_vy

Self velocity of Y axis estimated by visual feature points using bottom camera, which is represented by image coordinate.

float vision_vz

Self velocity of Z axis estimated by visual feature points using bottom camera, which is represented by image coordinate.

float height

Height from ground measured from ultrasonic sensor, which is represented in cm. This value is always 0 when Phenox2 is not hovering state (PX_HOVER) and measureble range is 60cm to 200cm.

int battery

Indicate battery state, return 1 when battery is nealy out.