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* optical flow: fixed calculation of velocity of the flow sensor relative to the IMU - gyroXYZ holds a delta angle and first needs to converted to a gyro rate Signed-off-by: Roman <bapstroman@gmail.com> * optical flow: calculate height above the ground with respect to the flow camera - the flow camera can be offset from the IMU which needs to be considered Signed-off-by: Roman <bapstroman@gmail.com> * estimator interface: fixed comment regarding optical flow sample timestamp - the timestamp on an optical flow sample corresponds to the trailing edge of the flow integration period Signed-off-by: Roman <bapstroman@gmail.com>