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local_position_estimator: Make optical flow data conversions consistent with uORB interface

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Paul Riseborough
2016-12-29 20:17:29 +11:00
committed by Lorenz Meier
parent ae55c8d87c
commit 92f5211f55
1 changed files with 3 additions and 3 deletions
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src/modules/local_position_estimator/sensors/flow.cpp
+3 -3
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@@ -86,11 +86,11 @@ int BlockLocalPositionEstimator::flowMeasure(Vector<float, n_y_flow> &y)
//warnx("flow x: %10.4f y: %10.4f gyro_x: %10.4f gyro_y: %10.4f d: %10.4f", //warnx("flow x: %10.4f y: %10.4f gyro_x: %10.4f gyro_y: %10.4f d: %10.4f",
//double(flow_x_rad), double(flow_y_rad), double(gyro_x_rad), double(gyro_y_rad), double(d)); //double(flow_x_rad), double(flow_y_rad), double(gyro_x_rad), double(gyro_y_rad), double(d));
// compute velocities in camera frame using ground distance // compute velocities in body frame using ground distance
// assume camera frame is body frame // note that the integral rates in the optical_flow uORB topic are RH rotations about body axes
Vector3f delta_b( Vector3f delta_b(
+(flow_y_rad - gyro_y_rad)*d,
-(flow_x_rad - gyro_x_rad)*d, -(flow_x_rad - gyro_x_rad)*d,
-(flow_y_rad - gyro_y_rad)*d,
0); 0);
// rotation of flow from body to nav frame // rotation of flow from body to nav frame