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px4flow : rotate gyro readings as well

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This commit is contained in:
Kabir Mohammed
2016-03-08 08:52:08 +01:00
committed by Lorenz Meier
parent f33c5a0e7f
commit 309212b52b
2 changed files with 3 additions and 0 deletions
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src/modules/mavlink/mavlink_receiver.cpp
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@@ -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);