From 0d28187960ff1c87c9f6ca57f544b53ee6ed8d9c Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 20 Aug 2012 11:36:44 +0200 Subject: Fixed attitude mag scaling --- apps/px4/attitude_estimator_bm/attitude_estimator_bm.c | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) (limited to 'apps/px4') diff --git a/apps/px4/attitude_estimator_bm/attitude_estimator_bm.c b/apps/px4/attitude_estimator_bm/attitude_estimator_bm.c index c917ff7b2..1e2e6b625 100644 --- a/apps/px4/attitude_estimator_bm/attitude_estimator_bm.c +++ b/apps/px4/attitude_estimator_bm/attitude_estimator_bm.c @@ -92,9 +92,9 @@ int attitude_estimator_bm_update(struct sensor_combined_s *raw, float_vect3 *eul accel_values.z = raw->accelerometer_m_s2[2] * 9.81f; float_vect3 mag_values; - mag_values.x = raw->magnetometer_ga[0]*100.0f; - mag_values.y = raw->magnetometer_ga[1]*100.0f; - mag_values.z = raw->magnetometer_ga[2]*100.0f; + mag_values.x = raw->magnetometer_ga[0]*510.0f; + mag_values.y = raw->magnetometer_ga[1]*510.0f; + mag_values.z = raw->magnetometer_ga[2]*510.0f; attitude_blackmagic(&accel_values, &mag_values, &gyro_values); -- cgit v1.2.3