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AP_NavEKF: use radians values from AHRS directly

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This commit is contained in:
Andrew Tridgell 2013-12-30 15:09:42 +11:00
parent 6b798d2821
commit 4771a4fc77
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -60,9 +60,9 @@ void NavEKF::InitialiseFilter(void)
{ {
// Calculate initial filter quaternion states from ahrs solution // Calculate initial filter quaternion states from ahrs solution
Quaternion initQuat; Quaternion initQuat;
ahrsEul[0] = _ahrs.roll_sensor*0.01f*DEG_TO_RAD; ahrsEul[0] = _ahrs.roll;
ahrsEul[1] = _ahrs.pitch_sensor*0.01f*DEG_TO_RAD; ahrsEul[1] = _ahrs.pitch;
ahrsEul[2] = _ahrs.yaw_sensor*0.01f*DEG_TO_RAD; ahrsEul[2] = _ahrs.yaw;
eul2quat(initQuat, ahrsEul); eul2quat(initQuat, ahrsEul);
// Calculate initial Tbn matrix and rotate Mag measurements into NED // Calculate initial Tbn matrix and rotate Mag measurements into NED