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 | 9 |
1 files changed, 4 insertions, 5 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 95685b407..66a949af1 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp @@ -512,11 +512,10 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds /* send out */ att.timestamp = raw.timestamp; - - /* Compensate for fmu placement offsets and magnetic declination */ - att.roll = euler[0] - ekf_params.roll_off; - att.pitch = euler[1] - ekf_params.pitch_off; - att.yaw = euler[2] + ekf_params.mag_decl - 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]; |