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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-20 11:36:44 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-20 11:36:44 +0200 |
| commit | 0d28187960ff1c87c9f6ca57f544b53ee6ed8d9c (patch) | |
| tree | 4027cbf0ab99cf7efdf3ab5c0ccf8a93e5e4bae1 /apps/px4 | |
| parent | 767f253976746a5533dd1a258373368539b4359e (diff) | |
| download | px4-firmware-0d28187960ff1c87c9f6ca57f544b53ee6ed8d9c.tar.gz px4-firmware-0d28187960ff1c87c9f6ca57f544b53ee6ed8d9c.tar.bz2 px4-firmware-0d28187960ff1c87c9f6ca57f544b53ee6ed8d9c.zip | |
Fixed attitude mag scaling
Diffstat (limited to 'apps/px4')
| -rw-r--r-- | apps/px4/attitude_estimator_bm/attitude_estimator_bm.c | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/apps/px4/attitude_estimator_bm/attitude_estimator_bm.c b/apps/px4/attitude_estimator_bm/attitude_estimator_bm.c index c917ff7b2..1e2e6b625 100644 --- a/apps/px4/attitude_estimator_bm/attitude_estimator_bm.c +++ b/apps/px4/attitude_estimator_bm/attitude_estimator_bm.c @@ -92,9 +92,9 @@ int attitude_estimator_bm_update(struct sensor_combined_s *raw, float_vect3 *eul accel_values.z = raw->accelerometer_m_s2[2] * 9.81f; float_vect3 mag_values; - mag_values.x = raw->magnetometer_ga[0]*100.0f; - mag_values.y = raw->magnetometer_ga[1]*100.0f; - mag_values.z = raw->magnetometer_ga[2]*100.0f; + mag_values.x = raw->magnetometer_ga[0]*510.0f; + mag_values.y = raw->magnetometer_ga[1]*510.0f; + mag_values.z = raw->magnetometer_ga[2]*510.0f; attitude_blackmagic(&accel_values, &mag_values, &gyro_values); |