flow: add scale factor parameter

oravla5 · Nov 13, 2024 · ea1a6a3 · ea1a6a3
1 parent d14c054
commit ea1a6a3
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Showing 3 changed files with 13 additions and 1 deletion.
diff --git a/src/modules/sensors/sensor_params_flow.c b/src/modules/sensors/sensor_params_flow.c
@@ -111,3 +111,13 @@ PARAM_DEFINE_FLOAT(SENS_FLOW_MAXR, 8.f);
  *
  */
 PARAM_DEFINE_FLOAT(SENS_FLOW_RATE, 70.0f);
+
+/**
+ * Optical flow scale factor
+ *
+ * @min 0.5
+ * @max 1.5
+ * @decimal 2
+ * @group Sensors
+ */
+PARAM_DEFINE_FLOAT(SENS_FLOW_SCALE, 1.f);
diff --git a/src/modules/sensors/vehicle_optical_flow/VehicleOpticalFlow.cpp b/src/modules/sensors/vehicle_optical_flow/VehicleOpticalFlow.cpp
@@ -226,6 +226,7 @@ void VehicleOpticalFlow::Run()
 			vehicle_optical_flow.timestamp_sample = sensor_optical_flow.timestamp_sample;
 			vehicle_optical_flow.device_id = sensor_optical_flow.device_id;
 
+			_flow_integral *= _param_sens_flow_scale.get();
 			_flow_integral.copyTo(vehicle_optical_flow.pixel_flow);
 			_delta_angle.copyTo(vehicle_optical_flow.delta_angle);
 

diff --git a/src/modules/sensors/vehicle_optical_flow/VehicleOpticalFlow.hpp b/src/modules/sensors/vehicle_optical_flow/VehicleOpticalFlow.hpp
@@ -141,7 +141,8 @@ class VehicleOpticalFlow : public ModuleParams, public px4::ScheduledWorkItem
 		(ParamFloat<px4::params::SENS_FLOW_MINHGT>) _param_sens_flow_minhgt,
 		(ParamFloat<px4::params::SENS_FLOW_MAXHGT>) _param_sens_flow_maxhgt,
 		(ParamFloat<px4::params::SENS_FLOW_MAXR>) _param_sens_flow_maxr,
-		(ParamFloat<px4::params::SENS_FLOW_RATE>) _param_sens_flow_rate
+		(ParamFloat<px4::params::SENS_FLOW_RATE>) _param_sens_flow_rate,
+		(ParamFloat<px4::params::SENS_FLOW_SCALE>) _param_sens_flow_scale
 	)
 };
 }; // namespace sensors