From 94ce6e12c196a9c50e487945d33f40f58a600790 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Fri, 30 Dec 2016 07:40:51 +1100 Subject: [PATCH] sensor: update default flow sensor rotation The SENS_FLOW_ROT parameter is used in the px4flow and mavlink receiver to perform the rotation from sensor frame to body frame. --- src/modules/sensors/sensor_params.c | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index eee1967b75..d75fc3ec5f 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -786,8 +786,9 @@ PARAM_DEFINE_INT32(SENS_BOARD_ROT, 0); /** * PX4Flow board rotation * - * This parameter defines the rotation of the PX4FLOW board relative to the platform. - * Zero rotation is defined as Y on flow board pointing towards front of vehicle + * This parameter defines the yaw rotation of the PX4FLOW board relative to the vehicle body frame. + * Zero rotation is defined as X on flow board pointing towards front of vehicle. + * The recommneded installation default for the PX4FLOW board is with the Y axis forward (270 deg yaw). * * @value 0 No rotation * @value 1 Yaw 45° @@ -802,7 +803,7 @@ PARAM_DEFINE_INT32(SENS_BOARD_ROT, 0); * * @group Sensor Calibration */ -PARAM_DEFINE_INT32(SENS_FLOW_ROT, 0); +PARAM_DEFINE_INT32(SENS_FLOW_ROT, 6); /** * Board rotation Y (Pitch) offset