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ekf: fix flow direction when on ground

This commit is contained in:
ChristophTobler 2017-10-10 14:39:44 +02:00
parent 6cb99ce8a8
commit 81a64c0479
1 changed files with 2 additions and 2 deletions
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4
EKF/estimator_interface.cpp
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@ -307,8 +307,8 @@ void EstimatorInterface::setOpticalFlowData(uint64_t time_usec, flow_message *fl
} else { } else {
// when on the ground with poor flow quality, assume zero ground relative velocity // when on the ground with poor flow quality, assume zero ground relative velocity
optflow_sample_new.flowRadXY(0) = + flow->gyrodata(0); optflow_sample_new.flowRadXY(0) = - flow->gyrodata(0);
optflow_sample_new.flowRadXY(1) = + flow->gyrodata(1); optflow_sample_new.flowRadXY(1) = - flow->gyrodata(1);
} }