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Fixed attitude mag scaling

This commit is contained in:
Lorenz Meier 2012-08-20 11:36:44 +02:00
parent 767f253976
commit 0d28187960
1 changed files with 3 additions and 3 deletions
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6
apps/px4/attitude_estimator_bm/attitude_estimator_bm.c
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@ -92,9 +92,9 @@ int attitude_estimator_bm_update(struct sensor_combined_s *raw, float_vect3 *eul
accel_values.z = raw->accelerometer_m_s2[2] * 9.81f; accel_values.z = raw->accelerometer_m_s2[2] * 9.81f;
float_vect3 mag_values; float_vect3 mag_values;
mag_values.x = raw->magnetometer_ga[0]*100.0f; mag_values.x = raw->magnetometer_ga[0]*510.0f;
mag_values.y = raw->magnetometer_ga[1]*100.0f; mag_values.y = raw->magnetometer_ga[1]*510.0f;
mag_values.z = raw->magnetometer_ga[2]*100.0f; mag_values.z = raw->magnetometer_ga[2]*510.0f;
attitude_blackmagic(&accel_values, &mag_values, &gyro_values); attitude_blackmagic(&accel_values, &mag_values, &gyro_values);