[Bug] Negative sign should be on the complete gyro angular veloctiy with the removed gyro bias for Optical Flow Gyro

[Gaurav-Kapoor-07]

Hi PX4-Autopilot devs, I am on version 1.15.4.

Shouldn't here:

PX4-Autopilot/src/modules/ekf2/EKF/optical_flow_control.cpp

Line 171 in 99c4040

_ref_body_rate = -imu_delayed.delta_ang / imu_delayed.delta_ang_dt - getGyroBias(); // flow gyro has opposite sign convention

be a negative sign for the whole bias removed gyro measurements for the Optical Flow control.

So the corrected code should be,

_ref_body_rate = -(imu_delayed.delta_ang / imu_delayed.delta_ang_dt - getGyroBias()); // flow gyro has opposite sign convention

Although version 1.16.0 corrects it here ->

// flow gyro has opposite sign convention
_ref_body_rate = -(imu_delayed.delta_ang / imu_delayed.delta_ang_dt - getGyroBias());

I can create a pull request if required.

Thanks and best regards,
Gaurav

[hamishwillee]

Thanks for this. FWIW I think it unlikely the fix would be backported to v1.15 now that v1.16 is stable.