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Added pitch, roll, and yaw offsets to compensate for imperfect fmu placement. These were removed in 61a3177979

This commit is contained in:
Darryl Taylor 2014-06-18 13:43:03 +08:00
parent 251760679a
commit 0f41d8b507
1 changed files with 5 additions and 4 deletions
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7
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
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@ -513,9 +513,10 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
/* send out */ /* send out */
att.timestamp = raw.timestamp; att.timestamp = raw.timestamp;
att.roll = euler[0]; /* Compensate for fmu placement offsets and magnetic declination */
att.pitch = euler[1]; att.roll = euler[0] - ekf_params.roll_off;
att.yaw = euler[2] + ekf_params.mag_decl; att.pitch = euler[1] - ekf_params.pitch_off;
att.yaw = euler[2] + ekf_params.mag_decl - ekf_params.yaw_off;
att.rollspeed = x_aposteriori[0]; att.rollspeed = x_aposteriori[0];
att.pitchspeed = x_aposteriori[1]; att.pitchspeed = x_aposteriori[1];