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AP_Mount: prototype code to send biases

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This commit is contained in:
Andrew Tridgell 2015-01-30 17:46:07 +11:00
parent 9bdefd0bba
commit 79017096e2
1 changed files with 10 additions and 0 deletions
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10
libraries/AP_Mount/AP_Mount_MAVLink.cpp
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@ -176,6 +176,16 @@ void AP_Mount_MAVLink::handle_gimbal_report(mavlink_channel_t chan, mavlink_mess
_gimbal_report.joint_pitch, _gimbal_report.joint_pitch,
_gimbal_report.joint_yaw); _gimbal_report.joint_yaw);
_ekf.RunEKF(_gimbal_report.delta_time, delta_angles, delta_velocity, joint_angles); _ekf.RunEKF(_gimbal_report.delta_time, delta_angles, delta_velocity, joint_angles);
#if 0
Vector3f bias;
_ekf.getBias(bias);
mavlink_msg_gimbal_control_send(chan,
msg->sysid,
msg->compid,
0, 0, 0, // demanded rates
bias.x, bias.y, bias.z);
#endif
} }
/* /*