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px4flow: update default rotation and documentation 

The driver performs the rotation from sensor frame to body frame.
The recommended installation default is with the Y sensor axis pointing forward.
This commit is contained in:
Paul Riseborough 2016-12-30 07:30:44 +11:00 committed by Lorenz Meier
parent eca2aeccf9
commit 3787fafdff
1 changed files with 3 additions and 3 deletions
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6
src/drivers/px4flow/px4flow.cpp
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@ -256,12 +256,12 @@ PX4FLOW::init()
/* sensor is ok, but we don't really know if it is within range */
_sensor_ok = true;
/* get rotation */
/* get yaw rotation from sensor frame to body frame */
param_t rot = param_find("SENS_FLOW_ROT");
/* only set it if the parameter exists */
if (rot != PARAM_INVALID) {
int32_t val = 0;
int32_t val = 6; // the recommended installation for the flow sensor is with the Y sensor axis forward
param_get(rot, &val);
_sensor_rotation = (enum Rotation)val;
@ -538,7 +538,7 @@ PX4FLOW::collect()
report.sensor_id = 0;
/* rotate measurements according to parameter */
/* rotate measurements in yaw from sensor frame to body frame according to parameter SENS_FLOW_ROT */
float zeroval = 0.0f;
rotate_3f(_sensor_rotation, report.pixel_flow_x_integral, report.pixel_flow_y_integral, zeroval);