ANOFlow

ANOTC optical flow sensor UART parser module for XRobot.

This module reads the ANOTC optical-flow binary stream from ano_flow_uart, parses flow, altitude, IMU sideband, and quaternion frames, publishes a compact sensor data topic, and exposes a RamFS shell command for link-health and sample status.

The parser tracks whether the link, flow stream, altitude stream, and working state are alive so downstream control logic can reject stale optical-flow data.

Required Hardware

• ano_flow_uart
• ramfs

Constructor Arguments

• data_topic_name: default "ano_flow_data"
• task_stack_depth: default 1024

Published Topics

• data_topic_name: ANOFlow::Data, including link state, flow velocity, altitude, IMU sideband data, and quaternion payloads

Shell Commands

The module registers ano_flow in RamFS.

• ano_flow or ano_flow status: print link state, work state, quality, velocity, and altitude

XRobot Configuration Example

- id: flow
  name: ANOFlow
  constructor_args:
    data_topic_name: "ano_flow_data"
    task_stack_depth: 1024