diff options
| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-19 09:35:58 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-19 09:35:58 +0200 |
| commit | 2a5fcd917428fa6e549214f8066690672b453af0 (patch) | |
| tree | 82dc2b45a75acd17a13a45831b319bef8e658a06 /apps/px4 | |
| parent | dcf71d5f69e11335d91d749d740a0c9fafb05586 (diff) | |
| download | px4-firmware-2a5fcd917428fa6e549214f8066690672b453af0.tar.gz px4-firmware-2a5fcd917428fa6e549214f8066690672b453af0.tar.bz2 px4-firmware-2a5fcd917428fa6e549214f8066690672b453af0.zip | |
Fixed incorrect scaling of acceleration values
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 7385171a2..c917ff7b2 100644 --- a/apps/px4/attitude_estimator_bm/attitude_estimator_bm.c +++ b/apps/px4/attitude_estimator_bm/attitude_estimator_bm.c @@ -87,9 +87,9 @@ int attitude_estimator_bm_update(struct sensor_combined_s *raw, float_vect3 *eul gyro_values.z = raw->gyro_rad_s[2]; float_vect3 accel_values; - accel_values.x = raw->accelerometer_m_s2[0]; - accel_values.y = raw->accelerometer_m_s2[1]; - accel_values.z = raw->accelerometer_m_s2[2]; + accel_values.x = raw->accelerometer_m_s2[0] * 9.81f; + accel_values.y = raw->accelerometer_m_s2[1] * 9.81f; + accel_values.z = raw->accelerometer_m_s2[2] * 9.81f; float_vect3 mag_values; mag_values.x = raw->magnetometer_ga[0]*100.0f; |