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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-20 13:16:09 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-20 13:16:09 +0200 |
| commit | e3fffa23e0665f2e9ce58cdf9035134785124f62 (patch) | |
| tree | bc980876795c7901db506cbad2010ea7a6014148 /apps/px4 | |
| parent | f20c61ccdf1109b70c4ec145ed5fe7bf4589bde6 (diff) | |
| parent | 78db6c990b609a773b2bb1eb0e1d979e77933ced (diff) | |
| download | px4-firmware-e3fffa23e0665f2e9ce58cdf9035134785124f62.tar.gz px4-firmware-e3fffa23e0665f2e9ce58cdf9035134785124f62.tar.bz2 px4-firmware-e3fffa23e0665f2e9ce58cdf9035134785124f62.zip | |
Merge branch 'master' into px4dev_new_param
Diffstat (limited to 'apps/px4')
| -rw-r--r-- | apps/px4/attitude_estimator_bm/attitude_estimator_bm.c | 12 |
1 files changed, 6 insertions, 6 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..feaed6695 100644 --- a/apps/px4/attitude_estimator_bm/attitude_estimator_bm.c +++ b/apps/px4/attitude_estimator_bm/attitude_estimator_bm.c @@ -87,14 +87,14 @@ 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] * 9.81f; - accel_values.y = raw->accelerometer_m_s2[1] * 9.81f; - accel_values.z = raw->accelerometer_m_s2[2] * 9.81f; + accel_values.x = raw->accelerometer_m_s2[0] * 9.81f * 9.0f; + accel_values.y = raw->accelerometer_m_s2[1] * 9.81f * 9.0f; + accel_values.z = raw->accelerometer_m_s2[2] * 9.81f * 9.0f; 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); |