From c8af315aa7fcb436ffb323039d96121b8b403c6f Mon Sep 17 00:00:00 2001 From: Roman Date: Wed, 13 Jun 2018 21:52:42 +0200 Subject: [PATCH] flow_fusion: corrected sign of gyro data when it is taken from the ekf gyro data Signed-off-by: Roman --- EKF/optflow_fusion.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/EKF/optflow_fusion.cpp b/EKF/optflow_fusion.cpp index 25961eef48..ad7fd70590 100644 --- a/EKF/optflow_fusion.cpp +++ b/EKF/optflow_fusion.cpp @@ -564,7 +564,8 @@ bool Ekf::calcOptFlowBodyRateComp() } else { // Use the EKF gyro data if optical flow sensor gyro data is not available - _flow_sample_delayed.gyroXYZ = _imu_del_ang_of; + // for clarification of the sign see definition of flowSample and imuSample in common.h + _flow_sample_delayed.gyroXYZ = - _imu_del_ang_of; _flow_gyro_bias.zero(); }