From 2e472cf918074cd2c4addc7d32abc09933d4ee2d Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Mon, 20 Jan 2014 23:44:04 +0100 Subject: attitude_estimator_ekf: acc comp bug fixed, estimated gravity vector logging --- src/modules/uORB/topics/vehicle_attitude.h | 1 + 1 file changed, 1 insertion(+) (limited to 'src/modules/uORB') diff --git a/src/modules/uORB/topics/vehicle_attitude.h b/src/modules/uORB/topics/vehicle_attitude.h index 4380a5ee7..e5a35ff9b 100755 --- a/src/modules/uORB/topics/vehicle_attitude.h +++ b/src/modules/uORB/topics/vehicle_attitude.h @@ -76,6 +76,7 @@ struct vehicle_attitude_s { float rate_offsets[3]; /**< Offsets of the body angular rates from zero */ float R[3][3]; /**< Rotation matrix body to world, (Tait-Bryan, NED) */ float q[4]; /**< Quaternion (NED) */ + float g_comp[3]; /**< Compensated gravity vector */ bool R_valid; /**< Rotation matrix valid */ bool q_valid; /**< Quaternion valid */ -- cgit v1.2.3