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AP_AHRS: fixed earth frame accel for EKF3 with significant trim

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This commit is contained in:
Andrew Tridgell 2023-02-26 10:55:46 +11:00
parent b55826e75e
commit e537eb925c
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_AHRS/AP_AHRS.cpp
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@ -591,7 +591,7 @@ void AP_AHRS::update_EKF3(void)
// use the primary IMU for accel earth frame // use the primary IMU for accel earth frame
Vector3f accel = _ins.get_accel(primary_accel); Vector3f accel = _ins.get_accel(primary_accel);
accel -= abias; accel -= abias;
_accel_ef = _dcm_matrix * accel; _accel_ef = _dcm_matrix * get_rotation_autopilot_body_to_vehicle_body() * accel;
nav_filter_status filt_state; nav_filter_status filt_state;
EKF3.getFilterStatus(filt_state); EKF3.getFilterStatus(filt_state);