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| author | M.H.Kabir <mhkabir98@gmail.com> | 2014-12-27 23:25:08 +0530 |
|---|---|---|
| committer | M.H.Kabir <mhkabir98@gmail.com> | 2014-12-27 23:25:08 +0530 |
| commit | 33653b25c6569013d0a1a5a4885457c0bdc23e06 (patch) | |
| tree | 68f7920d398a966fab3620d92adf4d55bcf6018c /src/drivers/px4flow/px4flow.cpp | |
| parent | 11a14c2c3d6ffeff5a896496c0d673845b734d86 (diff) | |
| download | px4-firmware-33653b25c6569013d0a1a5a4885457c0bdc23e06.tar.gz px4-firmware-33653b25c6569013d0a1a5a4885457c0bdc23e06.tar.bz2 px4-firmware-33653b25c6569013d0a1a5a4885457c0bdc23e06.zip | |
fix Z rotation
Diffstat (limited to 'src/drivers/px4flow/px4flow.cpp')
| -rw-r--r-- | src/drivers/px4flow/px4flow.cpp | 5 |
1 files changed, 3 insertions, 2 deletions
diff --git a/src/drivers/px4flow/px4flow.cpp b/src/drivers/px4flow/px4flow.cpp index 9895f780a..682cbf241 100644 --- a/src/drivers/px4flow/px4flow.cpp +++ b/src/drivers/px4flow/px4flow.cpp @@ -545,8 +545,9 @@ PX4FLOW::collect() report.sensor_id = 0; - /* rotate measurements to flight controller frame */ - rotate_3f(_sensor_rotation, report.pixel_flow_x_integral, report.pixel_flow_y_integral, report.ground_distance_m); // XXX Check this + /* rotate measurements according to parameter */ + float zeroval = 0.0f; + rotate_3f(_sensor_rotation, report.pixel_flow_x_integral, report.pixel_flow_y_integral, zeroval); if (_px4flow_topic < 0) { _px4flow_topic = orb_advertise(ORB_ID(optical_flow), &report); |