From 4435befefdbaedc85bd94a4240b0ebe9590fd391 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 9 Jan 2013 16:52:15 +0100 Subject: Added offset parameters for roll, pitch and yaw --- apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) (limited to 'apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c') diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c index 6533390bc..e373c531b 100644 --- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c +++ b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c @@ -413,9 +413,9 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[]) /* send out */ att.timestamp = raw.timestamp; - att.roll = euler[0]; - att.pitch = euler[1]; - att.yaw = euler[2]; + 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.rollspeed = x_aposteriori[0]; att.pitchspeed = x_aposteriori[1]; -- cgit v1.2.3