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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-01-02 19:18:19 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-01-02 19:18:19 +0100 |
| commit | cbac002fb3997c2d3a4cf47ab0fe81c8020baaff (patch) | |
| tree | 79d31187884df178563beac6bed834b62af19d73 /src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp | |
| parent | c5f24e494c6e7bc5b1651407094a776675050c3f (diff) | |
| download | px4-firmware-cbac002fb3997c2d3a4cf47ab0fe81c8020baaff.tar.gz px4-firmware-cbac002fb3997c2d3a4cf47ab0fe81c8020baaff.tar.bz2 px4-firmware-cbac002fb3997c2d3a4cf47ab0fe81c8020baaff.zip | |
Use the already compensated mag vector and initialize offsets to zero
Diffstat (limited to 'src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp')
| -rw-r--r-- | src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp | 7 |
1 files changed, 4 insertions, 3 deletions
diff --git a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp b/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp index b238422b6..49622dda3 100644 --- a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp +++ b/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp @@ -528,14 +528,15 @@ FixedwingEstimator::task_main() if (_initialized) { + // XXX we compensate the offsets upfront - should be close to zero. magData.x = _mag.x; - magBias.x = -_mag_offsets.x_offset; + magBias.x = 0.0f; // _mag_offsets.x_offset magData.y = _mag.y; - magBias.y = -_mag_offsets.y_offset; + magBias.y = 0.0f; // _mag_offsets.y_offset magData.z = _mag.z; - magBias.z = -_mag_offsets.z_offset; + magBias.z = 0.0f; // _mag_offsets.y_offset fuseMagData = true; RecallStates(statesAtMagMeasTime, (IMUmsec - _parameters.mag_delay_ms)); |