diff options
Diffstat (limited to 'src/modules/ekf_att_pos_estimator')
| -rw-r--r-- | src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp | 12 |
1 files changed, 6 insertions, 6 deletions
diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp index 7d3cb5396..903158129 100644 --- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp +++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp @@ -772,14 +772,14 @@ void AttitudePositionEstimatorEKF::publishAttitude() _att.pitch = euler(1); _att.yaw = euler(2); - _att.rollspeed = _ekf->angRate.x - _ekf->states[10]; - _att.pitchspeed = _ekf->angRate.y - _ekf->states[11]; - _att.yawspeed = _ekf->angRate.z - _ekf->states[12]; + _att.rollspeed = _ekf->angRate.x - _ekf->states[10] / _ekf->dtIMU; + _att.pitchspeed = _ekf->angRate.y - _ekf->states[11] / _ekf->dtIMU; + _att.yawspeed = _ekf->angRate.z - _ekf->states[12] / _ekf->dtIMU; // gyro offsets - _att.rate_offsets[0] = _ekf->states[10]; - _att.rate_offsets[1] = _ekf->states[11]; - _att.rate_offsets[2] = _ekf->states[12]; + _att.rate_offsets[0] = _ekf->states[10] / _ekf->dtIMU; + _att.rate_offsets[1] = _ekf->states[11] / _ekf->dtIMU; + _att.rate_offsets[2] = _ekf->states[12] / _ekf->dtIMU; /* lazily publish the attitude only once available */ if (_att_pub > 0) { |