Changes to landed option

DOI-USGS · Jan 16, 2024 · 4ec03e9 · 4ec03e9
1 parent 775ff21
commit 4ec03e9
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/ale/base/type_sensor.py b/ale/base/type_sensor.py
@@ -500,10 +500,7 @@ def cahvor_rotation_matrix(self):
             v_s = self.compute_v_s()
             H_prime = (self.cahvor_camera_dict['H'] - h_c * self.cahvor_camera_dict['A'])/h_s
             V_prime = (self.cahvor_camera_dict['V'] - v_c * self.cahvor_camera_dict['A'])/v_s
-            if self._props.get("landed", False):
-              self._cahvor_rotation_matrix = np.array([-H_prime, -V_prime, self.cahvor_camera_dict['A']])
-            else:
-              self._cahvor_rotation_matrix = np.array([H_prime, V_prime, self.cahvor_camera_dict['A']])
+            self._cahvor_rotation_matrix = np.array([H_prime, V_prime, self.cahvor_camera_dict['A']])
         return self._cahvor_rotation_matrix
 
     @property

diff --git a/ale/drivers/msl_drivers.py b/ale/drivers/msl_drivers.py
@@ -183,8 +183,11 @@ def focal_length(self):
             # See is_navcam() for an explanation.
             return (self.compute_h_s() + self.compute_v_s())/2.0
 
+        if self._props.get("landed", False):
+            return -super().focal_length
+
         # For mast cam
-        return super().focal_length 
+        return super().focal_length
 
     @property
     def pixel_size(self):