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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-01-21 17:30:53 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-01-21 17:30:53 +0100 |
| commit | ac215185a9604a88665d0b5b8382659f8cedaf56 (patch) | |
| tree | f7ba1eca830745fd7c002f954de27d38ea0995da /apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c | |
| parent | 48e497e4069a2f8773d90f2d1887967a81e487d8 (diff) | |
| download | px4-firmware-ac215185a9604a88665d0b5b8382659f8cedaf56.tar.gz px4-firmware-ac215185a9604a88665d0b5b8382659f8cedaf56.tar.bz2 px4-firmware-ac215185a9604a88665d0b5b8382659f8cedaf56.zip | |
Better attitude filter, not sensitive to sudden accelerations
Diffstat (limited to 'apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c')
| -rwxr-xr-x[-rw-r--r--] | apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c | 4 |
1 files changed, 4 insertions, 0 deletions
diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c index 1c3b9976b..7ca77e513 100644..100755 --- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c +++ b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c @@ -431,6 +431,10 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[]) att.rollspeed = x_aposteriori[0]; att.pitchspeed = x_aposteriori[1]; att.yawspeed = x_aposteriori[2]; + att.rollacc = x_aposteriori[3]; + att.pitchacc = x_aposteriori[4]; + att.yawacc = x_aposteriori[5]; + //att.yawspeed =z_k[2] ; /* copy offsets */ memcpy(&att.rate_offsets, &(x_aposteriori[3]), sizeof(att.rate_offsets)); |