diff options
Diffstat (limited to 'apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c')
| -rw-r--r-- | apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c index 6533390bc..e373c531b 100644 --- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c +++ b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c @@ -413,9 +413,9 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[]) /* send out */ att.timestamp = raw.timestamp; - att.roll = euler[0]; - att.pitch = euler[1]; - att.yaw = euler[2]; + att.roll = euler[0] - ekf_params.roll_off; + att.pitch = euler[1] - ekf_params.pitch_off; + att.yaw = euler[2] - ekf_params.yaw_off; att.rollspeed = x_aposteriori[0]; att.pitchspeed = x_aposteriori[1]; |