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 | 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 3881bdf55..10a6cd2c5 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp @@ -473,6 +473,9 @@ 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]; |