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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-29 15:53:11 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-29 15:53:11 +0200 |
| commit | 7cd89520cc8846e5ca00f251311e6c4a50b1f7e5 (patch) | |
| tree | 87b373384315b8244edc88356cdc56324649e71f /apps/commander/commander.c | |
| parent | 7d87f2b06e1b7ee71c132e84cfda263a5207e4d9 (diff) | |
| download | px4-firmware-7cd89520cc8846e5ca00f251311e6c4a50b1f7e5.tar.gz px4-firmware-7cd89520cc8846e5ca00f251311e6c4a50b1f7e5.tar.bz2 px4-firmware-7cd89520cc8846e5ca00f251311e6c4a50b1f7e5.zip | |
More black magic put into the attitude estimation - works nicely now
Diffstat (limited to 'apps/commander/commander.c')
| -rw-r--r-- | apps/commander/commander.c | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/apps/commander/commander.c b/apps/commander/commander.c index 88d25bfab..80d2c58f8 100644 --- a/apps/commander/commander.c +++ b/apps/commander/commander.c @@ -555,7 +555,7 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status) /* add the removed length from x / y to z, since we induce a scaling issue else */ float total_len = sqrtf(accel_offset[0]*accel_offset[0] + accel_offset[1]*accel_offset[1] + accel_offset[2]*accel_offset[2]); - accel_offset[2] = -(accel_offset[2] + total_len); + accel_offset[2] = accel_offset[2] + total_len; if (param_set(param_find("SENSOR_ACC_XOFF"), &(accel_offset[0]))) { mavlink_log_critical(mavlink_fd, "[commander] Setting X accel offset failed!"); |