2 files changed, 9 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 52dac652b..a6a40b4a1 100755
--- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
+++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
@@ -63,6 +63,9 @@ PARAM_DEFINE_FLOAT(ATT_ROLL_OFF3, 0.0f);
 PARAM_DEFINE_FLOAT(ATT_PITCH_OFF3, 0.0f);
 PARAM_DEFINE_FLOAT(ATT_YAW_OFF3, 0.0f);
 
+/* magnetic declination, in degrees */
+PARAM_DEFINE_FLOAT(ATT_MAG_DECL, 0.0f);
+
 int parameters_init(struct attitude_estimator_ekf_param_handles *h)
 {
 	/* PID parameters */
@@ -81,6 +84,8 @@ int parameters_init(struct attitude_estimator_ekf_param_handles *h)
 	h->pitch_off =	param_find("ATT_PITCH_OFF3");
 	h->yaw_off   =	param_find("ATT_YAW_OFF3");
 
+	h->mag_decl   =	param_find("ATT_MAG_DECL");
+
 	return OK;
 }
 
@@ -101,5 +106,7 @@ int parameters_update(const struct attitude_estimator_ekf_param_handles *h, stru
 	param_get(h->pitch_off, &(p->pitch_off));
 	param_get(h->yaw_off, &(p->yaw_off));
 
+	param_get(h->mag_decl, &(p->mag_decl));
+
 	return OK;
 }
diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h
index 09817d58e..b4b3ca50d 100755
--- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h
+++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h
@@ -47,12 +47,14 @@ struct attitude_estimator_ekf_params {
 	float roll_off;
 	float pitch_off;
 	float yaw_off;
+	float mag_decl;
 };
 
 struct attitude_estimator_ekf_param_handles {
 	param_t r0, r1, r2, r3;
 	param_t q0, q1, q2, q3, q4;
 	param_t roll_off, pitch_off, yaw_off;
+	param_t mag_decl;
 };
 
 /**