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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-01-09 16:52:15 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-01-09 16:52:15 +0100 |
| commit | 4435befefdbaedc85bd94a4240b0ebe9590fd391 (patch) | |
| tree | fb18844f7ca29d5521139aa4090640b4b61aa7d8 /apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c | |
| parent | 8cc9fb9e2c47af213962ece3be3f883dd5cd71ea (diff) | |
| download | px4-firmware-4435befefdbaedc85bd94a4240b0ebe9590fd391.tar.gz px4-firmware-4435befefdbaedc85bd94a4240b0ebe9590fd391.tar.bz2 px4-firmware-4435befefdbaedc85bd94a4240b0ebe9590fd391.zip | |
Added offset parameters for roll, pitch and yaw
Diffstat (limited to 'apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c')
| -rw-r--r-- | apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c index 6533390bc..e373c531b 100644 --- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c +++ b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c @@ -413,9 +413,9 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[]) /* send out */ att.timestamp = raw.timestamp; - att.roll = euler[0]; - att.pitch = euler[1]; - att.yaw = euler[2]; + att.roll = euler[0] - ekf_params.roll_off; + att.pitch = euler[1] - ekf_params.pitch_off; + att.yaw = euler[2] - ekf_params.yaw_off; att.rollspeed = x_aposteriori[0]; att.pitchspeed = x_aposteriori[1]; |