From 142724748a4ac1e9c21b7408f602df6ce91f318c Mon Sep 17 00:00:00 2001 From: bresch Date: Fri, 23 Oct 2020 14:28:09 +0200 Subject: [PATCH] pmw3901: Adjust scale factor to match gyro data --- src/drivers/optical_flow/pmw3901/PMW3901.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/drivers/optical_flow/pmw3901/PMW3901.cpp b/src/drivers/optical_flow/pmw3901/PMW3901.cpp index df9b83d1b7..006408fd35 100644 --- a/src/drivers/optical_flow/pmw3901/PMW3901.cpp +++ b/src/drivers/optical_flow/pmw3901/PMW3901.cpp @@ -324,8 +324,8 @@ PMW3901::RunImpl() return; } - delta_x = (float)_flow_sum_x / 500.0f; // proportional factor + convert from pixels to radians - delta_y = (float)_flow_sum_y / 500.0f; // proportional factor + convert from pixels to radians + delta_x = (float)_flow_sum_x / 385.0f; // proportional factor + convert from pixels to radians + delta_y = (float)_flow_sum_y / 385.0f; // proportional factor + convert from pixels to radians optical_flow_s report{}; report.timestamp = timestamp;