yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-22 01:12:31 +00:00
Code Issues Packages Projects Releases Wiki Activity

pmw3901: set quality to zero if flow below threshold

Browse Source
This commit is contained in:
ChristophTobler
2018-09-12 08:34:34 +02:00
committed by Lorenz Meier
parent a4a9b02ff1
commit f72e9e4385
1 changed files with 10 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

11
src/drivers/pmw3901/pmw3901.cpp
View File

@@ -57,6 +57,7 @@
#include <stdio.h>
#include <math.h>
#include <unistd.h>
#include <float.h>
#include <conversion/rotation.h>
@@ -601,7 +602,15 @@ PMW3901::collect()
report.integration_timespan = _flow_dt_sum_usec; //microseconds
report.sensor_id = 0;
report.quality = 255;
// This sensor doesn't provide any quality metric. However if the sensor is unable to calculate the optical flow it will
// output 0 for the delta. Hence, we set the measurement to "invalid" (quality = 0) if the values are smaller than FLT_EPSILON
if (fabsf(report.pixel_flow_x_integral) < FLT_EPSILON && fabsf(report.pixel_flow_y_integral) < FLT_EPSILON) {
report.quality = 0;
} else {
report.quality = 255;
}
/* No gyro on this board */
report.gyro_x_rate_integral = NAN;