From eab1d3af4f4b451f3e23181ac1c8ca0dc7b3c4c2 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Wed, 1 Nov 2017 17:03:55 +1100 Subject: [PATCH] AP_InertialSensor: don't apply offsets in SITL backend the offsets are applied in the rotate and correct methods --- libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp index 5c594d01d5..6d4807c998 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp @@ -92,7 +92,7 @@ void AP_InertialSensor_SITL::generate_accel(uint8_t instance) zAccel = sitl->accel_fail; } - Vector3f accel = Vector3f(xAccel, yAccel, zAccel) + _imu.get_accel_offsets(instance); + Vector3f accel = Vector3f(xAccel, yAccel, zAccel); _rotate_and_correct_accel(accel_instance[instance], accel); @@ -120,7 +120,7 @@ void AP_InertialSensor_SITL::generate_gyro(uint8_t instance) q += gyro_noise * rand_float(); r += gyro_noise * rand_float(); - Vector3f gyro = Vector3f(p, q, r) + _imu.get_gyro_offsets(instance); + Vector3f gyro = Vector3f(p, q, r); // add in gyro scaling Vector3f scale = sitl->gyro_scale;