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AP_OpticalFlow: apply yaw for flow in all drivers

This commit is contained in:
Andrew Tridgell 2016-11-26 14:23:50 +11:00
parent 06dfbc3e09
commit 22717f23be
2 changed files with 4 additions and 0 deletions
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2
libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.cpp
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@ -77,6 +77,8 @@ void AP_OpticalFlow_Onboard::update()
state.bodyRate.y = 1.0f / float(data_frame.delta_time) * state.bodyRate.y = 1.0f / float(data_frame.delta_time) *
data_frame.gyro_y_integral; data_frame.gyro_y_integral;
_applyYaw(state.flowRate);
} else { } else {
state.flowRate.zero(); state.flowRate.zero();
state.bodyRate.zero(); state.bodyRate.zero();

2
libraries/AP_OpticalFlow/AP_OpticalFlow_SITL.cpp
View File

@ -117,6 +117,8 @@ void AP_OpticalFlow_SITL::update(void)
} }
} }
_applyYaw(state.flowRate);
// copy results to front end // copy results to front end
_update_frontend(state); _update_frontend(state);
} }