From 4dbf7befe369ba00a73945a0193f0a061c271dc3 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 13 Oct 2012 12:25:30 +0200 Subject: Disable rate control, disable offset estimation --- apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) (limited to 'apps/attitude_estimator_ekf') diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c index 66c58f74f..1d4df87fe 100644 --- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c +++ b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c @@ -418,9 +418,10 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[]) att.pitch = euler[1]; att.yaw = euler[2]; - att.rollspeed = x_aposteriori[0]; - att.pitchspeed = x_aposteriori[1]; - att.yawspeed = x_aposteriori[2]; + // XXX replace with x_apo after fix to filter + att.rollspeed = raw.gyro_rad_s[0]; //x_aposteriori[0]; + att.pitchspeed = raw.gyro_rad_s[1]; //x_aposteriori[1]; + att.yawspeed = raw.gyro_rad_s[2]; //x_aposteriori[2]; /* copy offsets */ memcpy(&att.rate_offsets, &(x_aposteriori[3]), sizeof(att.rate_offsets)); -- cgit v1.2.3