From 99c6f7e623cb9533ce7052f5d587cc9d1f5b6c7d Mon Sep 17 00:00:00 2001
From: "ucart@co3050-12" <dawehr@iastate.edu>
Date: Sun, 23 Apr 2017 02:28:09 -0500
Subject: [PATCH] Removed biquad filter on OF velocity because it doesn't work

---
 quad/src/quad_app/sensor_processing.c | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/quad/src/quad_app/sensor_processing.c b/quad/src/quad_app/sensor_processing.c
index e3e2c3d61..cdd5a8c34 100644
--- a/quad/src/quad_app/sensor_processing.c
+++ b/quad/src/quad_app/sensor_processing.c
@@ -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;
 
 	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.yVel = biquad_execute(&sensor_struct->flow_y_filt, -sensor_struct->optical_flow.yVel);
+//	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.xVel *= -1;
+	sensor_struct->optical_flow.yVel *= -1;
 
 	/*
 	 * Altitude double complementary filter
-- 
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