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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-03-11 12:51:34 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-03-11 12:51:34 +0100 |
| commit | 4d8524f508fe9e74606fe80f063801a1c47baa14 (patch) | |
| tree | 7092a00025bb0f229936a44999e0c10255a60219 /src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp | |
| parent | 16dd054fa6bfc305d3a66f17d295ceaf1f554c12 (diff) | |
| parent | b6a087e92183ef9cca513357919b96ea2812d298 (diff) | |
| download | px4-firmware-4d8524f508fe9e74606fe80f063801a1c47baa14.tar.gz px4-firmware-4d8524f508fe9e74606fe80f063801a1c47baa14.tar.bz2 px4-firmware-4d8524f508fe9e74606fe80f063801a1c47baa14.zip | |
Merge branch 'master' of github.com:PX4/Firmware into paul_estimator
Diffstat (limited to 'src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp')
| -rwxr-xr-x | src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp | 3 |
1 files changed, 3 insertions, 0 deletions
diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp index 3881bdf55..10a6cd2c5 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp @@ -473,6 +473,9 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds dt = 0.005f; parameters_update(&ekf_param_handles, &ekf_params); + /* update mag declination rotation matrix */ + R_decl.from_euler(0.0f, 0.0f, ekf_params.mag_decl); + x_aposteriori_k[0] = z_k[0]; x_aposteriori_k[1] = z_k[1]; x_aposteriori_k[2] = z_k[2]; |