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opt flow: fix msg naming
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optical_flow got replaced by sensor_optical_flow and vehicle_optical_flow
bresch authored and dagar committed Sep 11, 2023
1 parent f2bb548 commit 78eb0cd
Showing 2 changed files with 7 additions and 7 deletions.
Original file line number Diff line number Diff line change
@@ -22,14 +22,14 @@ def getVioData(ulog: ULog) -> pd.DataFrame:

def getOpticalFlowData(ulog: ULog) -> pd.DataFrame:

optical_flow = ulog.get_dataset("optical_flow").data
optical_flow = ulog.get_dataset("vehicle_optical_flow").data
flow = pd.DataFrame({'timestamp': optical_flow['timestamp'],
'sensor' : 'flow',
'pixel_flow_x_integral': optical_flow["pixel_flow_x_integral"],
'pixel_flow_y_integral': optical_flow["pixel_flow_y_integral"],
'gyro_x_rate_integral': optical_flow["gyro_x_rate_integral"],
'gyro_y_rate_integral': optical_flow["gyro_y_rate_integral"],
'gyro_z_rate_integral': optical_flow["gyro_z_rate_integral"],
'pixel_flow_x': optical_flow["pixel_flow[0]"],
'pixel_flow_y': optical_flow["pixel_flow[1]"],
'delta_angle_x': optical_flow["delta_angle[0]"],
'delta_angle_y': optical_flow["delta_angle[1]"],
'delta_angle_z': optical_flow["delta_angle[2]"],
'quality': optical_flow["quality"]
})
return flow
2 changes: 1 addition & 1 deletion src/modules/logger/logged_topics.cpp
Original file line number Diff line number Diff line change
@@ -330,7 +330,7 @@ void LoggedTopics::add_estimator_replay_topics()

// current EKF2 subscriptions
add_topic("airspeed");
add_topic("optical_flow");
add_topic("vehicle_optical_flow");
add_topic("sensor_combined");
add_topic("sensor_selection");
add_topic("vehicle_air_data");

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