From 5b2d430a2a733a874fcdaf19ab00b8ca29b1e45f Mon Sep 17 00:00:00 2001
From: yaapu <alex.apostoli@gmail.com>
Date: Thu, 7 Jan 2021 09:13:07 +0100
Subject: [PATCH] AP_OpticalFlow: fix CXOF opflow driver, only apply yaw to
 flowRate as body rate comes from AHRS

---
 libraries/AP_OpticalFlow/AP_OpticalFlow_CXOF.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_CXOF.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow_CXOF.cpp
index c2a82402c8..8ffb78fad5 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_CXOF.cpp
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_CXOF.cpp
@@ -186,8 +186,8 @@ void AP_OpticalFlow_CXOF::update(void)
         // copy average body rate to state structure
         state.bodyRate = Vector2f(gyro_sum.x / gyro_sum_count, gyro_sum.y / gyro_sum_count);
 
+        // we only apply yaw to flowRate as body rate comes from AHRS
         _applyYaw(state.flowRate);
-        _applyYaw(state.bodyRate);
     } else {
         // first frame received in some time so cannot calculate flow values
         state.flowRate.zero();