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AP_NavEKF: Added pitch and roll inertial sensor to body trim adjustment

This commit is contained in:
Paul Riseborough 2014-01-17 23:08:14 +11:00 committed by Andrew Tridgell
parent 9d375da550
commit 7fb60812c2
1 changed files with 3 additions and 0 deletions
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3
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -1985,6 +1985,7 @@ void NavEKF::getEulerAngles(Vector3f &euler) const
{
Quaternion q(states[0], states[1], states[2], states[3]);
q.to_euler(&euler.x, &euler.y, &euler.z);
euler = euler - _ahrs->get_trim();
}
void NavEKF::getVelNED(Vector3f &vel) const
@ -2291,8 +2292,10 @@ void NavEKF::ForceYawAlignment()
void NavEKF::getRotationBodyToNED(Matrix3f &mat) const
{
Vector3f trim = _ahrs->get_trim();
Quaternion q(states[0], states[1], states[2], states[3]);
q.rotation_matrix(mat);
mat.rotateXYinv(trim);
}
void NavEKF::getInnovations(Vector3f &velInnov, Vector3f &posInnov, Vector3f &magInnov, float &tasInnov) const