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AP_InertialSensor: support rotated IMUs in SITL

This commit is contained in:
Andrew Tridgell 2017-06-05 15:37:07 +10:00
parent 5631056f10
commit c05c495cc8

View File

@ -94,6 +94,8 @@ void AP_InertialSensor_SITL::generate_accel(uint8_t instance)
Vector3f accel = Vector3f(xAccel, yAccel, zAccel) + _imu.get_accel_offsets(instance);
_rotate_and_correct_accel(accel_instance[instance], accel);
_notify_new_accel_raw_sample(accel_instance[instance], accel, AP_HAL::micros64());
}
@ -126,6 +128,8 @@ void AP_InertialSensor_SITL::generate_gyro(uint8_t instance)
gyro.y *= (1 + scale.y*0.01);
gyro.z *= (1 + scale.z*0.01);
_rotate_and_correct_gyro(gyro_instance[instance], gyro);
_notify_new_gyro_raw_sample(gyro_instance[instance], gyro, AP_HAL::micros64());
}