forked from Archive/PX4-Autopilot
Added pitch, roll, and yaw offsets to compensate for imperfect fmu placement. These were removed in 61a3177979
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@ -512,10 +512,11 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
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/* send out */
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att.timestamp = raw.timestamp;
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att.roll = euler[0];
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att.pitch = euler[1];
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att.yaw = euler[2] + ekf_params.mag_decl;
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/* Compensate for fmu placement offsets and magnetic declination */
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att.roll = euler[0] - ekf_params.roll_off;
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att.pitch = euler[1] - ekf_params.pitch_off;
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att.yaw = euler[2] + ekf_params.mag_decl - ekf_params.yaw_off;
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att.rollspeed = x_aposteriori[0];
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att.pitchspeed = x_aposteriori[1];
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