From 33653b25c6569013d0a1a5a4885457c0bdc23e06 Mon Sep 17 00:00:00 2001 From: "M.H.Kabir" Date: Sat, 27 Dec 2014 23:25:08 +0530 Subject: [PATCH] fix Z rotation --- src/drivers/px4flow/px4flow.cpp | 5 +++-- src/modules/mavlink/mavlink_receiver.cpp | 4 +++- 2 files changed, 6 insertions(+), 3 deletions(-) diff --git a/src/drivers/px4flow/px4flow.cpp b/src/drivers/px4flow/px4flow.cpp index 9895f780ac..682cbf2415 100644 --- a/src/drivers/px4flow/px4flow.cpp +++ b/src/drivers/px4flow/px4flow.cpp @@ -545,8 +545,9 @@ PX4FLOW::collect() report.sensor_id = 0; - /* rotate measurements to flight controller frame */ - rotate_3f(_sensor_rotation, report.pixel_flow_x_integral, report.pixel_flow_y_integral, report.ground_distance_m); // XXX Check this + /* rotate measurements according to parameter */ + float zeroval = 0.0f; + rotate_3f(_sensor_rotation, report.pixel_flow_x_integral, report.pixel_flow_y_integral, zeroval); if (_px4flow_topic < 0) { _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 f91ae3c373..6f5adb5fe5 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -379,7 +379,9 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg) f.sensor_id = flow.sensor_id; f.gyro_temperature = flow.temperature; - rotate_3f(flow_rot, f.pixel_flow_x_integral, f.pixel_flow_y_integral, f.ground_distance_m); // XXX Check this + /* rotate measurements according to parameter */ + float zeroval = 0.0f; + rotate_3f(flow_rot, f.pixel_flow_x_integral, f.pixel_flow_y_integral, zeroval); if (_flow_pub < 0) { _flow_pub = orb_advertise(ORB_ID(optical_flow), &f);