GCS_Common: optical flow comp fields should include flow

6 years ago · 70817bb6a7
1 changed files with 2 additions and 2 deletions
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@ -1518,8 +1518,8 @@ void GCS_MAVLINK::send_opticalflow()
				@@ -1518,8 +1518,8 @@ void GCS_MAVLINK::send_opticalflow()
        0, // sensor id is zero
        flowRate.x,
        flowRate.y,
-        bodyRate.x,
-        bodyRate.y,
+        flowRate.x - bodyRate.x,
+        flowRate.y - bodyRate.y,
        optflow->quality(),
        hagl,  // ground distance (in meters) set to zero
        flowRate.x,