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pmw3901: add specs from datasheet to opt flow msg

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without this ekf2 rejects flow
https://wiki.bitcraze.io/_media/projects:crazyflie2:expansionboards:pot0189-pmw3901mb-txqt-ds-r1.00-200317_20170331160807_public.pdf
This commit is contained in:
ChristophTobler
2018-08-27 17:32:00 +02:00
committed by Lorenz Meier
parent bbc0c28c2c
commit 6955272316
1 changed files with 5 additions and 0 deletions
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src/drivers/pmw3901/pmw3901.cpp
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@@ -608,6 +608,11 @@ PMW3901::collect()
report.gyro_y_rate_integral = NAN;
report.gyro_z_rate_integral = NAN;
// set (conservative) specs according to datasheet
report.max_flow_rate = 5.0f; // Datasheet: 7.4 rad/s
report.min_ground_distance = 0.1f; // Datasheet: 80mm
report.max_ground_distance = 5.0f; // Datasheet: infinity
_flow_dt_sum_usec = 0;
_flow_sum_x = 0;
_flow_sum_y = 0;