Fabio Bobrow / CrazyflieSensors

Library containing Crazyflie 2.0 sensors drivers: - LPS25H (barometer) - MPU9250 (IMU) - PMW3901 (optical flow) - VL53L0X (range)

Dependents:   Drones-Controlador controladoatitude_cteste Drone_Controlador_Atitude optical_test

Diff: PMW3901/PMW3901.cpp

Revision:
15:e07de535b86f
Parent:
14:e4d638ac83af
--- a/PMW3901/PMW3901.cpp	Thu Sep 27 17:57:28 2018 +0000
+++ b/PMW3901/PMW3901.cpp	Wed Oct 17 13:26:29 2018 +0000
@@ -176,11 +176,11 @@
     spi.write(DELTA_Y_H & 0b01111111); data[3] = spi.write(0x00); 
 
     // Reassemble the data (two 8 bit data into one 16 bit data)
-    int16_t x_raw = (data[1] << 8 ) | data[0];
-    int16_t y_raw = (data[3] << 8 ) | data[2];
+    int16_t px_raw = (data[1] << 8 ) | data[0];
+    int16_t py_raw = (data[3] << 8 ) | data[2];
     // Convert to SI units [px]
-    x = -y_raw * 1.0f;
-    y = -x_raw * 1.0f; 
+    px = -py_raw * 1.0f;
+    py = -px_raw * 1.0f; 
     
     // Deselect the device by seting chip select high
     cs = 1;