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AP_AHRS: fixed get_accel_ef_blended() for SITL EKF 10

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This commit is contained in:
Andrew Tridgell 2017-05-05 19:49:20 +10:00
parent 6eaad59115
commit d9223165c7
1 changed files with 4 additions and 3 deletions
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7
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -293,9 +293,10 @@ void AP_AHRS_NavEKF::update_SITL(void)
radians(fdm.yawRate));
for (uint8_t i=0; i<INS_MAX_INSTANCES; i++) {
_accel_ef_ekf[i] = Vector3f(fdm.xAccel,
fdm.yAccel,
fdm.zAccel);
Vector3f accel(fdm.xAccel,
fdm.yAccel,
fdm.zAccel);
_accel_ef_ekf[i] = _dcm_matrix * get_rotation_autopilot_body_to_vehicle_body() * accel;
}
_accel_ef_ekf_blended = _accel_ef_ekf[0];