diff options
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 | 22 |
1 files changed, 16 insertions, 6 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 a70a14fe4..983ac7c8d 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp @@ -61,6 +61,8 @@ #include <uORB/topics/parameter_update.h> #include <drivers/drv_hrt.h> +#include <lib/mathlib/mathlib.h> + #include <systemlib/systemlib.h> #include <systemlib/perf_counter.h> #include <systemlib/err.h> @@ -433,10 +435,9 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds /* send out */ att.timestamp = raw.timestamp; - // XXX Apply the same transformation to the rotation matrix - 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.roll = euler[0]; + att.pitch = euler[1]; + att.yaw = euler[2] + ekf_params.mag_decl; att.rollspeed = x_aposteriori[0]; att.pitchspeed = x_aposteriori[1]; @@ -445,12 +446,21 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds att.pitchacc = x_aposteriori[4]; att.yawacc = x_aposteriori[5]; - //att.yawspeed =z_k[2] ; /* copy offsets */ memcpy(&att.rate_offsets, &(x_aposteriori[3]), sizeof(att.rate_offsets)); + /* magnetic declination */ + math::EulerAngles eulerMagDecl(0.0f, 0.0f, ekf_params.mag_decl); + math::Dcm R(eulerMagDecl); + math::Dcm R_body(&Rot_matrix[0]); + R = R * R_body; + /* copy rotation matrix */ - memcpy(&att.R, Rot_matrix, sizeof(Rot_matrix)); + for (int i = 0; i < 3; i++) { + for (int j = 0; j < 3; j++) { + att.R[i][j] = R(i, j); + } + } att.R_valid = true; if (isfinite(att.roll) && isfinite(att.pitch) && isfinite(att.yaw)) { |