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optical_flow/thoneflow: update the data timespan

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斯东Stone
2021-02-24 20:28:29 -06:00
committed by GitHub
parent 45ba9d1dd5
commit b0a5d431d3
1 changed files with 2 additions and 2 deletions
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src/drivers/optical_flow/thoneflow/thoneflow.cpp
+2 -2
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@@ -114,7 +114,7 @@ extern "C" __EXPORT int thoneflow_main(int argc, char *argv[]);
Thoneflow::Thoneflow(const char *port) : Thoneflow::Thoneflow(const char *port) :
ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(port)), ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(port)),
_rotation(Rotation(0)), _rotation(Rotation(0)),
_cycle_interval(15150), _cycle_interval(10526),
_fd(-1), _fd(-1),
_linebuf_index(0), _linebuf_index(0),
_parse_state(THONEFLOW_PARSE_STATE0_UNSYNC), _parse_state(THONEFLOW_PARSE_STATE0_UNSYNC),
@@ -230,7 +230,7 @@ Thoneflow::init()
/* Integrated flow is sent at 66fps */ /* Integrated flow is sent at 66fps */
_report.frame_count_since_last_readout = 1; _report.frame_count_since_last_readout = 1;
_report.integration_timespan = 15151; // microseconds _report.integration_timespan = 10526; // microseconds
/* Get a publish handle on the optical flow topic */ /* Get a publish handle on the optical flow topic */
_optical_flow_pub = orb_advertise(ORB_ID(optical_flow), &_report); _optical_flow_pub = orb_advertise(ORB_ID(optical_flow), &_report);