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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-01-09 16:56:23 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-01-09 16:56:23 +0100 |
| commit | 1a107bd7bf75a01ad199a5cdb3eb54c46011a3d9 (patch) | |
| tree | 28b912b9d0775db6c6c94fcb14e2903c4c486746 /apps/attitude_estimator_ekf | |
| parent | d60173224fc476d612546a318c1517c6a0455833 (diff) | |
| download | px4-firmware-1a107bd7bf75a01ad199a5cdb3eb54c46011a3d9.tar.gz px4-firmware-1a107bd7bf75a01ad199a5cdb3eb54c46011a3d9.tar.bz2 px4-firmware-1a107bd7bf75a01ad199a5cdb3eb54c46011a3d9.zip | |
Added warning, needs more work on the rotation matrix output
Diffstat (limited to 'apps/attitude_estimator_ekf')
| -rw-r--r-- | apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c | 2 |
1 files changed, 2 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 e373c531b..2e0c962c2 100644 --- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c +++ b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c @@ -413,6 +413,8 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[]) /* send out */ att.timestamp = raw.timestamp; + + // XXX Apply the same transformation to the rotation matrix att.roll = euler[0] - ekf_params.roll_off; att.pitch = euler[1] - ekf_params.pitch_off; att.yaw = euler[2] - ekf_params.yaw_off; |