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AP_NavEKF : Modify optical flow data interface 

Sign conventions have changed
This commit is contained in:
priseborough 2014-11-01 09:49:47 +11:00 committed by Andrew Tridgell
parent a72b6b179b
commit 9ea97c1a38
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -4022,8 +4022,8 @@ void NavEKF::writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, V
Tnb_flow = Tbn_flow.transposed();
// write uncorrected flow rate measurements that will be used by the focal length scale factor estimator
// note correction for different axis and sign conventions used by the px4flow sensor
flowRadXY[0] = + rawFlowRates.y; // raw (non motion compensated) optical flow angular rate about the X axis (rad/sec)
flowRadXY[1] = - rawFlowRates.x; // raw (non motion compensated) optical flow angular rate about the Y axis (rad/sec)
flowRadXY[0] = - rawFlowRates.x; // raw (non motion compensated) optical flow angular rate about the X axis (rad/sec)
flowRadXY[1] = - rawFlowRates.y; // raw (non motion compensated) optical flow angular rate about the Y axis (rad/sec)
// write flow rate measurements corrected for focal length scale factor errors and body rates
flowRadXYcomp[0] = flowStates[0]*flowRadXY[0] + omegaAcrossFlowTime.x;
flowRadXYcomp[1] = flowStates[0]*flowRadXY[1] + omegaAcrossFlowTime.y;