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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-03-10 23:39:31 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-03-10 23:39:31 +0400 |
| commit | ddb94ceba8f8813a8d434d00daf42a232e58cbfc (patch) | |
| tree | d743ddbdace7b0545895063db1e51e9ddad23959 /src/modules/attitude_estimator_ekf | |
| parent | 368c2390cf98980e317171d2a44622f1b6ec9c33 (diff) | |
| download | px4-firmware-ddb94ceba8f8813a8d434d00daf42a232e58cbfc.tar.gz px4-firmware-ddb94ceba8f8813a8d434d00daf42a232e58cbfc.tar.bz2 px4-firmware-ddb94ceba8f8813a8d434d00daf42a232e58cbfc.zip | |
attitude_estimator_ekf: hotfix, do mag declination rotation matrix initialization
Diffstat (limited to 'src/modules/attitude_estimator_ekf')
| -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 620185fb7..00bd23f83 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp @@ -477,6 +477,9 @@ 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]; |