wip: fixed a couple issues with opticla flow reading.

quad/src/quad_app/control_algorithm.c

@@ -483,7 +483,6 @@ int control_algorithm_init(parameter_t * ps)
     //Optical flow
     graph_set_param_val(graph, ps->flow_vel_x, CONST_SET, sensor_struct->optical_flow.xVel);
     graph_set_param_val(graph, ps->flow_vel_y, CONST_SET, sensor_struct->optical_flow.yVel);
-    graph_set_param_val(graph, ps->flow_distance, CONST_SET, sensor_struct->optical_flow.distance);
     graph_set_param_val(graph, ps->flow_vel_x_filt, CONST_SET, sensor_struct->optical_flow.xVelFilt);
     graph_set_param_val(graph, ps->flow_vel_y_filt, CONST_SET, sensor_struct->optical_flow.yVelFilt);
 

quad/xsdk_workspace/real_quad/src/hw_impl_zybo_optical_flow.c

@@ -17,7 +17,7 @@ int zybo_optical_flow_read(struct OpticalFlowDriver *self, px4flow_t *of) {
   struct I2CDriver *i2c = self->i2c;
   int error = 0;
 
-  typedef struct i2c_integral_frame
+  struct i2c_integral_frame
   {
       uint16_t frame_count_since_last_readout;//number of flow measurements since last I2C readout [#frames]
       int16_t pixel_flow_x_integral;//accumulated flow in radians*10000 around x axis since last I2C readout [rad*10000]

quad/xsdk_workspace/real_quad/src/main.c

@@ -48,7 +48,7 @@ int main()
 #ifdef RUN_TESTS
   //test_zybo_mio7_led_and_system();
   //test_zybo_i2c();
-  test_zybo_i2c_imu();
+  //test_zybo_i2c_imu();
   //test_zybo_i2c_px4flow();
   //test_zybo_i2c_lidar();
   //test_zybo_i2c_all();
@@ -56,7 +56,7 @@ int main()
   //test_zybo_motors();
   //test_zybo_uart();
   //test_zybo_axi_timer();
-  test_zybo_uart_comm();
+  //test_zybo_uart_comm();
   return 0;
 #endif