From 309212b52baf91f25ecf26b1a5b30ecc3a82cee1 Mon Sep 17 00:00:00 2001 From: Kabir Mohammed Date: Wed, 28 Oct 2015 21:27:30 +0530 Subject: [PATCH] px4flow : rotate gyro readings as well --- src/drivers/px4flow/px4flow.cpp | 2 ++ src/modules/mavlink/mavlink_receiver.cpp | 1 + 2 files changed, 3 insertions(+) diff --git a/src/drivers/px4flow/px4flow.cpp b/src/drivers/px4flow/px4flow.cpp index 5b7f1e5557..362fed970d 100644 --- a/src/drivers/px4flow/px4flow.cpp +++ b/src/drivers/px4flow/px4flow.cpp @@ -531,6 +531,8 @@ PX4FLOW::collect() rotate_3f(_sensor_rotation, report.pixel_flow_x_integral, report.pixel_flow_y_integral, zeroval); + rotate_3f(_sensor_rotation, report.gyro_x_rate_integral, report.gyro_y_rate_integral, report.gyro_z_rate_integral); + if (_px4flow_topic == nullptr) { _px4flow_topic = orb_advertise(ORB_ID(optical_flow), &report); diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 68e8f9b0bb..5b69c9ffbf 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -456,6 +456,7 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg) /* rotate measurements according to parameter */ float zeroval = 0.0f; rotate_3f(flow_rot, f.pixel_flow_x_integral, f.pixel_flow_y_integral, zeroval); + rotate_3f(flow_rot, f.gyro_x_rate_integral, f.gyro_y_rate_integral, f.gyro_z_rate_integral); if (_flow_pub == nullptr) { _flow_pub = orb_advertise(ORB_ID(optical_flow), &f);