From bb5f910e9ed1e1c960a2b47354a6ea889418e159 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Fri, 5 Apr 2019 09:03:11 +0900 Subject: [PATCH] mavlink_opticalflow: always send flow packets regardless of quality the flight controller performs best if it has regular updates --- scripts/examples/18-MAVLink/mavlink_opticalflow.py | 11 ++++------- 1 file changed, 4 insertions(+), 7 deletions(-) diff --git a/scripts/examples/18-MAVLink/mavlink_opticalflow.py b/scripts/examples/18-MAVLink/mavlink_opticalflow.py index eb43c9413..4fd003d5f 100644 --- a/scripts/examples/18-MAVLink/mavlink_opticalflow.py +++ b/scripts/examples/18-MAVLink/mavlink_opticalflow.py @@ -91,11 +91,8 @@ while(True): sub_pixel_x = int(-displacement.x_translation() * 35) sub_pixel_y = int(displacement.y_translation() * 53) - if(displacement.response() > MAV_OPTICAL_FLOW_confidence_threshold): - send_optical_flow_packet(sub_pixel_x, sub_pixel_y, displacement.response()) + send_optical_flow_packet(sub_pixel_x, sub_pixel_y, displacement.response()) - print("{0:+f}x {1:+f}y {2} {3} FPS".format(sub_pixel_x, sub_pixel_y, - displacement.response(), - clock.fps())) - else: - print(clock.fps()) + print("{0:+f}x {1:+f}y {2} {3} FPS".format(sub_pixel_x, sub_pixel_y, + displacement.response(), + clock.fps()))