AP_AHRS: fixed earth frame accel for EKF3 with significant trim

2023-02-26 10:55:46 +11:00 · 2023-02-26 10:55:46 +11:00 · f7be18755e
parent a24763a2ba
commit f7be18755e
1 changed files with 1 additions and 1 deletions
--- a/libraries/AP_AHRS/AP_AHRS.cpp
+++ b/libraries/AP_AHRS/AP_AHRS.cpp
@ -610,7 +610,7 @@ void AP_AHRS::update_EKF3(void)
            // use the primary IMU for accel earth frame
            Vector3f accel = _ins.get_accel(primary_accel);
            accel -= abias;
-            _accel_ef = _dcm_matrix * accel;
+            _accel_ef = _dcm_matrix * get_rotation_autopilot_body_to_vehicle_body() * accel;

            nav_filter_status filt_state;
            EKF3.getFilterStatus(filt_state);