fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 00:53:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Update optical flow interface

Browse Source
This commit is contained in:
kamilritz
2020-01-24 16:18:42 +03:00
committed by Roman Bapst
parent cafb1400fb
commit f3d790a664
12 changed files with 46 additions and 57 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/ekf_helper.cpp
+2 -2
View File
@@ -73,8 +73,8 @@ bool Ekf::resetVelocity()
// we should have reliable OF measurements so
// calculate X and Y body relative velocities from OF measurements
Vector3f vel_optflow_body;
vel_optflow_body(0) = - range * _flowRadXYcomp(1) / _flow_sample_delayed.dt;
vel_optflow_body(1) = range * _flowRadXYcomp(0) / _flow_sample_delayed.dt;
vel_optflow_body(0) = - range * _flow_compensated_XY_rad(1) / _flow_sample_delayed.dt;
vel_optflow_body(1) = range * _flow_compensated_XY_rad(0) / _flow_sample_delayed.dt;
vel_optflow_body(2) = 0.0f;
// rotate from body to earth frame