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fix Z rotation

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M.H.Kabir
2014-12-27 23:25:08 +05:30
parent 11a14c2c3d
commit 33653b25c6
2 changed files with 6 additions and 3 deletions
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src/drivers/px4flow/px4flow.cpp
+3 -2
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@@ -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);