diff options
| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-13 12:25:30 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-13 12:25:30 +0200 |
| commit | 4dbf7befe369ba00a73945a0193f0a061c271dc3 (patch) | |
| tree | 63327c7c8984f6f0bc521525de0c410c3d9f0121 /apps/attitude_estimator_ekf | |
| parent | d62ec78ab835153ef3ba480a5a4110465ba34372 (diff) | |
| download | px4-firmware-4dbf7befe369ba00a73945a0193f0a061c271dc3.tar.gz px4-firmware-4dbf7befe369ba00a73945a0193f0a061c271dc3.tar.bz2 px4-firmware-4dbf7befe369ba00a73945a0193f0a061c271dc3.zip | |
Disable rate control, disable offset estimation
Diffstat (limited to 'apps/attitude_estimator_ekf')
| -rw-r--r-- | apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c | 7 |
1 files changed, 4 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 66c58f74f..1d4df87fe 100644 --- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c +++ b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c @@ -418,9 +418,10 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[]) att.pitch = euler[1]; att.yaw = euler[2]; - att.rollspeed = x_aposteriori[0]; - att.pitchspeed = x_aposteriori[1]; - att.yawspeed = x_aposteriori[2]; + // XXX replace with x_apo after fix to filter + att.rollspeed = raw.gyro_rad_s[0]; //x_aposteriori[0]; + att.pitchspeed = raw.gyro_rad_s[1]; //x_aposteriori[1]; + att.yawspeed = raw.gyro_rad_s[2]; //x_aposteriori[2]; /* copy offsets */ memcpy(&att.rate_offsets, &(x_aposteriori[3]), sizeof(att.rate_offsets)); |