From c97381c97fe8ce4c9ea8dcbf74b429122317b6cc Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Fri, 13 Jan 2023 17:00:16 -0500 Subject: [PATCH] mavlink: streams SCALED_IMU fix gyro dt --- src/modules/mavlink/streams/SCALED_IMU.hpp | 2 +- src/modules/mavlink/streams/SCALED_IMU2.hpp | 2 +- src/modules/mavlink/streams/SCALED_IMU3.hpp | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/modules/mavlink/streams/SCALED_IMU.hpp b/src/modules/mavlink/streams/SCALED_IMU.hpp index cc90800ed7..95d0b48e4b 100644 --- a/src/modules/mavlink/streams/SCALED_IMU.hpp +++ b/src/modules/mavlink/streams/SCALED_IMU.hpp @@ -88,7 +88,7 @@ private: msg.zacc = (int16_t)accel(2); // Gyroscope in mrad/s - const float gyro_dt_inv = 1.e6f / (float)imu.delta_velocity_dt; + const float gyro_dt_inv = 1.e6f / (float)imu.delta_angle_dt; const Vector3f gyro = Vector3f{imu.delta_angle} * gyro_dt_inv * 1000.0f; msg.xgyro = gyro(0); msg.ygyro = gyro(1); diff --git a/src/modules/mavlink/streams/SCALED_IMU2.hpp b/src/modules/mavlink/streams/SCALED_IMU2.hpp index 1b769a227e..3f65189056 100644 --- a/src/modules/mavlink/streams/SCALED_IMU2.hpp +++ b/src/modules/mavlink/streams/SCALED_IMU2.hpp @@ -88,7 +88,7 @@ private: msg.zacc = (int16_t)accel(2); // Gyroscope in mrad/s - const float gyro_dt_inv = 1.e6f / (float)imu.delta_velocity_dt; + const float gyro_dt_inv = 1.e6f / (float)imu.delta_angle_dt; const Vector3f gyro = Vector3f{imu.delta_angle} * gyro_dt_inv * 1000.0f; msg.xgyro = gyro(0); msg.ygyro = gyro(1); diff --git a/src/modules/mavlink/streams/SCALED_IMU3.hpp b/src/modules/mavlink/streams/SCALED_IMU3.hpp index b253c70c49..cb180c7b8b 100644 --- a/src/modules/mavlink/streams/SCALED_IMU3.hpp +++ b/src/modules/mavlink/streams/SCALED_IMU3.hpp @@ -88,7 +88,7 @@ private: msg.zacc = (int16_t)accel(2); // Gyroscope in mrad/s - const float gyro_dt_inv = 1.e6f / (float)imu.delta_velocity_dt; + const float gyro_dt_inv = 1.e6f / (float)imu.delta_angle_dt; const Vector3f gyro = Vector3f{imu.delta_angle} * gyro_dt_inv * 1000.0f; msg.xgyro = gyro(0); msg.ygyro = gyro(1);