fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-15 06:13:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

flow: add scale factor parameter

Browse Source
This commit is contained in:
bresch
2024-11-13 10:28:29 -05:00
committed by Daniel Agar
parent d14c054149
commit ea1a6a327c
3 changed files with 13 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/sensors/sensor_params_flow.c
+10
View File
@@ -111,3 +111,13 @@ PARAM_DEFINE_FLOAT(SENS_FLOW_MAXR, 8.f);
*
*/
PARAM_DEFINE_FLOAT(SENS_FLOW_RATE, 70.0f);
/**
* Optical flow scale factor
*
* @min 0.5
* @max 1.5
* @decimal 2
* @group Sensors
*/
PARAM_DEFINE_FLOAT(SENS_FLOW_SCALE, 1.f);
src/modules/sensors/vehicle_optical_flow/VehicleOpticalFlow.cpp
+1
View File
@@ -226,6 +226,7 @@ void VehicleOpticalFlow::Run()
vehicle_optical_flow.timestamp_sample = sensor_optical_flow.timestamp_sample;
vehicle_optical_flow.device_id = sensor_optical_flow.device_id;
_flow_integral *= _param_sens_flow_scale.get();
_flow_integral.copyTo(vehicle_optical_flow.pixel_flow);
_delta_angle.copyTo(vehicle_optical_flow.delta_angle);
src/modules/sensors/vehicle_optical_flow/VehicleOpticalFlow.hpp
+2 -1
View File
@@ -141,7 +141,8 @@ private:
(ParamFloat<px4::params::SENS_FLOW_MINHGT>) _param_sens_flow_minhgt,
(ParamFloat<px4::params::SENS_FLOW_MAXHGT>) _param_sens_flow_maxhgt,
(ParamFloat<px4::params::SENS_FLOW_MAXR>) _param_sens_flow_maxr,
(ParamFloat<px4::params::SENS_FLOW_RATE>) _param_sens_flow_rate
(ParamFloat<px4::params::SENS_FLOW_RATE>) _param_sens_flow_rate,
(ParamFloat<px4::params::SENS_FLOW_SCALE>) _param_sens_flow_scale
)
};
}; // namespace sensors