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Commit 99c6f7e6 authored by dawehr's avatar dawehr
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Removed biquad filter on OF velocity because it doesn't work

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quad/src/quad_app/sensor_processing.c
+ 4
− 2
View file @ 99c6f7e6
...@@ -122,8 +122,10 @@ int sensor_processing(log_t* log_struct, user_input_t *user_input_struct, raw_se ...@@ -122,8 +122,10 @@ int sensor_processing(log_t* log_struct, user_input_t *user_input_struct, raw_se
sensor_struct->optical_flow = raw_sensor_struct->optical_flow; sensor_struct->optical_flow = raw_sensor_struct->optical_flow;
flow_to_vel(&sensor_struct->optical_flow, raw_sensor_struct->lidar_distance_m); flow_to_vel(&sensor_struct->optical_flow, raw_sensor_struct->lidar_distance_m);
sensor_struct->optical_flow.xVel = biquad_execute(&sensor_struct->flow_x_filt, -sensor_struct->optical_flow.xVel); // sensor_struct->optical_flow.xVel = biquad_execute(&sensor_struct->flow_x_filt, -sensor_struct->optical_flow.xVel);
sensor_struct->optical_flow.yVel = biquad_execute(&sensor_struct->flow_y_filt, -sensor_struct->optical_flow.yVel); // sensor_struct->optical_flow.yVel = biquad_execute(&sensor_struct->flow_y_filt, -sensor_struct->optical_flow.yVel);
sensor_struct->optical_flow.xVel *= -1;
sensor_struct->optical_flow.yVel *= -1;
/* /*
* Altitude double complementary filter * Altitude double complementary filter
......
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