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| author | M.H.Kabir <mhkabir98@gmail.com> | 2014-12-27 23:16:09 +0530 |
|---|---|---|
| committer | M.H.Kabir <mhkabir98@gmail.com> | 2014-12-27 23:16:09 +0530 |
| commit | 11a14c2c3d6ffeff5a896496c0d673845b734d86 (patch) | |
| tree | 0f81174e6706f18640641f6c671859eafbfd125d /src/modules/mavlink | |
| parent | d40168dc4b46f922b1be76dcf8a6a37a675788ae (diff) | |
| download | px4-firmware-11a14c2c3d6ffeff5a896496c0d673845b734d86.tar.gz px4-firmware-11a14c2c3d6ffeff5a896496c0d673845b734d86.tar.bz2 px4-firmware-11a14c2c3d6ffeff5a896496c0d673845b734d86.zip | |
Add rotation switching to flow from mavlink
Diffstat (limited to 'src/modules/mavlink')
| -rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 7 |
1 files changed, 7 insertions, 0 deletions
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index e98d72afe..f91ae3c37 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -68,6 +68,8 @@ #include <mathlib/mathlib.h> +#include <conversion/rotation.h> + #include <systemlib/param/param.h> #include <systemlib/systemlib.h> #include <systemlib/err.h> @@ -357,6 +359,9 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg) /* optical flow */ mavlink_optical_flow_rad_t flow; mavlink_msg_optical_flow_rad_decode(msg, &flow); + + enum Rotation flow_rot; + param_get(param_find("SENS_FLOW_ROT"),&flow_rot); struct optical_flow_s f; memset(&f, 0, sizeof(f)); @@ -374,6 +379,8 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg) f.sensor_id = flow.sensor_id; f.gyro_temperature = flow.temperature; + rotate_3f(flow_rot, f.pixel_flow_x_integral, f.pixel_flow_y_integral, f.ground_distance_m); // XXX Check this + if (_flow_pub < 0) { _flow_pub = orb_advertise(ORB_ID(optical_flow), &f); |