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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-26 12:23:48 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-26 12:23:48 +0200 |
| commit | 5bd8e6f6b3a1bf021435cdb27471abdc82655317 (patch) | |
| tree | c1ca8d19082090640c1934c656f91c6b99fbf014 /src | |
| parent | eb520e7dcd7225bcc398847036fe5019c022708b (diff) | |
| parent | 7372693fb9145281ea7ad0dd78c57bc780ef6c07 (diff) | |
| download | px4-firmware-5bd8e6f6b3a1bf021435cdb27471abdc82655317.tar.gz px4-firmware-5bd8e6f6b3a1bf021435cdb27471abdc82655317.tar.bz2 px4-firmware-5bd8e6f6b3a1bf021435cdb27471abdc82655317.zip | |
Merge pull request #845 from PX4/mag_decl_hotfix
Mag declination hotfix
Diffstat (limited to 'src')
| -rwxr-xr-x | src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c | 2 |
1 files changed, 2 insertions, 0 deletions
diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c index 4154e3db4..3ff3d9922 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c @@ -40,6 +40,7 @@ */ #include "attitude_estimator_ekf_params.h" +#include <math.h> /* Extended Kalman Filter covariances */ @@ -113,6 +114,7 @@ int parameters_update(const struct attitude_estimator_ekf_param_handles *h, stru param_get(h->yaw_off, &(p->yaw_off)); param_get(h->mag_decl, &(p->mag_decl)); + p->mag_decl *= M_PI / 180.0f; param_get(h->acc_comp, &(p->acc_comp)); |