fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-21 00:03:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

px4flow: update default rotation and documentation

Browse Source 
The driver performs the rotation from sensor frame to body frame.
The recommended installation default is with the Y sensor axis pointing forward.
This commit is contained in:
Paul Riseborough
2016-12-30 10:39:10 +01:00
committed by Lorenz Meier
parent eca2aeccf9
commit 3787fafdff
1 changed files with 3 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/px4flow/px4flow.cpp
+3 -3
View File
@@ -256,12 +256,12 @@ PX4FLOW::init()
/* sensor is ok, but we don't really know if it is within range */ /* sensor is ok, but we don't really know if it is within range */
_sensor_ok = true; _sensor_ok = true;
/* get rotation */ /* get yaw rotation from sensor frame to body frame */
param_t rot = param_find("SENS_FLOW_ROT"); param_t rot = param_find("SENS_FLOW_ROT");
/* only set it if the parameter exists */ /* only set it if the parameter exists */
if (rot != PARAM_INVALID) { if (rot != PARAM_INVALID) {
int32_t val = 0; int32_t val = 6; // the recommended installation for the flow sensor is with the Y sensor axis forward
param_get(rot, &val); param_get(rot, &val);
_sensor_rotation = (enum Rotation)val; _sensor_rotation = (enum Rotation)val;
@@ -538,7 +538,7 @@ PX4FLOW::collect()
report.sensor_id = 0; report.sensor_id = 0;
/* rotate measurements according to parameter */ /* rotate measurements in yaw from sensor frame to body frame according to parameter SENS_FLOW_ROT */
float zeroval = 0.0f; float zeroval = 0.0f;
rotate_3f(_sensor_rotation, report.pixel_flow_x_integral, report.pixel_flow_y_integral, zeroval); rotate_3f(_sensor_rotation, report.pixel_flow_x_integral, report.pixel_flow_y_integral, zeroval);