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paw3902: update scaling from datasheet

This commit is contained in:
Daniel Agar 2022-06-21 13:34:01 -04:00
parent dc8ed97809
commit 07e28fda7a
1 changed files with 9 additions and 2 deletions
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11
src/drivers/optical_flow/paw3902/PAW3902.cpp
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@ -823,8 +823,15 @@ void PAW3902::RunImpl()
// rotate measurements in yaw from sensor frame to body frame
const matrix::Vector3f pixel_flow_rotated = _rotation * matrix::Vector3f{(float)delta_x_raw, (float)delta_y_raw, 0.f};
report.pixel_flow[0] = pixel_flow_rotated(0) / 500.0f; // proportional factor + convert from pixels to radians
report.pixel_flow[1] = pixel_flow_rotated(1) / 500.0f; // proportional factor + convert from pixels to radians
// datasheet provides 11.914 CPI (count per inch) scaling per meter of height
static constexpr float PIXART_RESOLUTION = 11.914f; // counts per inch (CPI) per meter (from surface)
static constexpr float INCHES_PER_METER = 39.3701f;
// CPI/m -> radians
static constexpr float SCALE = 1.f / (PIXART_RESOLUTION * INCHES_PER_METER);
report.pixel_flow[0] = pixel_flow_rotated(0) * SCALE;
report.pixel_flow[1] = pixel_flow_rotated(1) * SCALE;
}
report.timestamp = hrt_absolute_time();