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AP_NavEKF: Fix comments error in description of flow sensor sign conventions

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priseborough 2014-12-20 14:25:48 +11:00 committed by Randy Mackay
parent 685fa383e4
commit bf89c56e54
1 changed files with 2 additions and 2 deletions
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libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -4075,8 +4075,8 @@ void NavEKF::writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, V
{
// The raw measurements need to be optical flow rates in radians/second averaged across the time since the last update
// The PX4Flow sensor outputs flow rates with the following axis and sign conventions:
// A positive X rate is produced by a positive velocity over ground in the X direction
// A positive Y rate is produced by a positive velocity over ground in the Y direction
// A positive X rate is produced by a positive sensor rotation about the X axis
// A positive Y rate is produced by a positive sensor rotation about the Y axis
// This filter uses a different definition of optical flow rates to the sensor with a positive optical flow rate produced by a
// negative rotation about that axis. For example a positive rotation of the flight vehicle about its X (roll) axis would produce a negative X flow rate
flowQuality = rawFlowQuality;