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Fix scaling issue with thoneflow/holybro optical flow pwm3901 UART driver 

Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
This commit is contained in:
dirksavage88 2024-01-06 14:25:43 -05:00 committed by Mathieu Bresciani
parent af0eb729c9
commit 071565a8ad
1 changed files with 2 additions and 2 deletions
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4
src/drivers/optical_flow/thoneflow/thoneflow_parser.cpp
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@ -133,8 +133,8 @@ bool thoneflow_parse(char c, char *parserbuf, unsigned *parserbuf_index, enum TH
// Checksum valid, populate sensor report // Checksum valid, populate sensor report
int16_t delta_x = uint16_t(parserbuf[1]) << 8 | parserbuf[0]; int16_t delta_x = uint16_t(parserbuf[1]) << 8 | parserbuf[0];
int16_t delta_y = uint16_t(parserbuf[3]) << 8 | parserbuf[2]; int16_t delta_y = uint16_t(parserbuf[3]) << 8 | parserbuf[2];
flow->pixel_flow[0] = static_cast<float>(delta_x) * (3.52e-3f); flow->pixel_flow[0] = static_cast<float>(delta_x) * (1.76e-3f);
flow->pixel_flow[1] = static_cast<float>(delta_y) * (3.52e-3f); flow->pixel_flow[1] = static_cast<float>(delta_y) * (1.76e-3f);
*state = THONEFLOW_PARSE_STATE7_CHECKSUM; *state = THONEFLOW_PARSE_STATE7_CHECKSUM;
} else { } else {