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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-03 14:00:04 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-03 14:00:04 +0200 |
| commit | 921c391db4c6da676f49b0889c8871f205508d53 (patch) | |
| tree | eddb3c4e7c0e694171b3a0d12dc7ce437fee8dc2 /apps/attitude_estimator_ekf | |
| parent | affa3af4e6415d1f68dd6242d0ded6e5ed8a1b1d (diff) | |
| download | px4-firmware-921c391db4c6da676f49b0889c8871f205508d53.tar.gz px4-firmware-921c391db4c6da676f49b0889c8871f205508d53.tar.bz2 px4-firmware-921c391db4c6da676f49b0889c8871f205508d53.zip | |
Commit finished attitude estim cleanup
Diffstat (limited to 'apps/attitude_estimator_ekf')
| -rw-r--r-- | apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c | 7 |
1 files changed, 7 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 6368c5157..10405758f 100644 --- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c +++ b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c @@ -427,6 +427,13 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[]) att.pitchspeed = x_aposteriori[1]; att.yawspeed = x_aposteriori[2]; + /* copy offsets */ + memcpy(&att.rate_offsets, &(x_aposteriori[3]), sizeof(att.rate_offsets)); + + /* copy rotation matrix */ + memcpy(&att.R, Rot_matrix, sizeof(Rot_matrix)); + att.R_valid = true; + // Broadcast orb_publish(ORB_ID(vehicle_attitude), pub_att, &att); } |