Update optical flow interface

test/sensor_simulator/flow.cpp

@@ -16,21 +16,22 @@ Flow::~Flow()
 void Flow::send(uint64_t time)
 {
 	_flow_data.dt = time - _time_last_data_sent;
-	_ekf->setOpticalFlowData(time, &_flow_data);
+	_flow_data.time_us = time;
+	_ekf->setOpticalFlowData(_flow_data);
 }
 
-void Flow::setData(const flow_message& flow)
+void Flow::setData(const flowSample& flow)
 {
 	_flow_data = flow;
 
 }
 
-flow_message Flow::dataAtRest()
+flowSample Flow::dataAtRest()
 {
-	flow_message _flow_at_rest;
-	_flow_at_rest.dt = 20000;
-	_flow_at_rest.flowdata = Vector2f{0.0f, 0.0f};
-	_flow_at_rest.gyrodata = Vector3f{0.0f, 0.0f, 0.0f};
+	flowSample _flow_at_rest;
+	_flow_at_rest.dt = 0.02f;
+	_flow_at_rest.flow_xy_rad = Vector2f{0.0f, 0.0f};
+	_flow_at_rest.gyro_xyz = Vector3f{0.0f, 0.0f, 0.0f};
 	_flow_at_rest.quality = 255;
 	return _flow_at_rest;
 }

test/sensor_simulator/flow.h

@@ -50,11 +50,11 @@ public:
 	Flow(std::shared_ptr<Ekf> ekf);
 	~Flow();
 
-	void setData(const flow_message& flow);
-	flow_message dataAtRest();
+	void setData(const flowSample& flow);
+	flowSample dataAtRest();
 
 private:
-	flow_message _flow_data;
+	flowSample _flow_data;
 
 	void send(uint64_t time) override;
 

test/sensor_simulator/range_finder.h

@@ -51,7 +51,6 @@ public:
 	~RangeFinder();
 
 	void setData(float range_data, int8_t range_quality);
-	flow_message dataAtRest();
 
 private:
 	rangeSample _range_sample {};

test/test_EKF_fusionLogic.cpp

@@ -161,8 +161,7 @@ TEST_F(EkfFusionLogicTest, doFlowFusion)
 
 	// WHEN: Flow data is not send and we enable flow fusion
 	_sensor_simulator.stopFlow();
-	_sensor_simulator.runSeconds(3); // TODO: without this line tests fail
-	// probably there are still values in the buffer.
+	_sensor_simulator.runSeconds(1); // empty buffer
 	_ekf_wrapper.enableFlowFusion();
 	_sensor_simulator.runSeconds(3);