Commit 90f3a271 authored by Vladimir Ermakov's avatar Vladimir Ermakov
Browse files

Merge pull request #517 from gauxonz/fix-px4flow-quality

Fix px4flow quality
parents f8f73b79 fdd15b20
......@@ -88,14 +88,14 @@ private:
*/
auto int_xy = UAS::transform_frame_aircraft_baselink(
Eigen::Vector3d(
flow_rad.integrated_x,
flow_rad.integrated_y,
0.0));
flow_rad.integrated_x,
flow_rad.integrated_y,
0.0));
auto int_gyro = UAS::transform_frame_aircraft_baselink(
Eigen::Vector3d(
flow_rad.integrated_xgyro,
flow_rad.integrated_ygyro,
flow_rad.integrated_zgyro));
flow_rad.integrated_xgyro,
flow_rad.integrated_ygyro,
flow_rad.integrated_zgyro));
auto flow_rad_msg = boost::make_shared<mavros_msgs::OpticalFlowRad>();
......@@ -112,6 +112,7 @@ private:
flow_rad_msg->temperature = flow_rad.temperature / 100.0f; // in degrees celsius
flow_rad_msg->time_delta_distance_us = flow_rad.time_delta_distance_us;
flow_rad_msg->distance = flow_rad.distance;
flow_rad_msg->quality = flow_rad.quality;
flow_rad_pub.publish(flow_rad_msg);
......
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