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AP_InertialSensor: don't apply offsets in SITL backend

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the offsets are applied in the rotate and correct methods
This commit is contained in:
Andrew Tridgell 2017-11-01 17:03:55 +11:00
parent 160ce436e3
commit eab1d3af4f
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp
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@ -92,7 +92,7 @@ void AP_InertialSensor_SITL::generate_accel(uint8_t instance)
zAccel = sitl->accel_fail; 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); _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(); q += gyro_noise * rand_float();
r += 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 // add in gyro scaling
Vector3f scale = sitl->gyro_scale; Vector3f scale = sitl->gyro_scale;