From 52771411665fad55ff2ff0a1617cb209b350a31a Mon Sep 17 00:00:00 2001 From: Nicolae Rosia Date: Sun, 16 Jul 2017 20:50:16 +0300 Subject: [PATCH] sensor_combined stores deltas in usec instead of seconds Signed-off-by: Nicolae Rosia --- .../EKF_replay/Common/convert_px4_sensor_combined_csv_data.m | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/matlab/EKF_replay/Common/convert_px4_sensor_combined_csv_data.m b/matlab/EKF_replay/Common/convert_px4_sensor_combined_csv_data.m index 882fafb5d5..7692e0f069 100755 --- a/matlab/EKF_replay/Common/convert_px4_sensor_combined_csv_data.m +++ b/matlab/EKF_replay/Common/convert_px4_sensor_combined_csv_data.m @@ -19,10 +19,10 @@ end clear imu_data; n_samples = length(timestamp); imu_data.time_us = timestamp + accelerometer_timestamp_relative; -imu_data.gyro_dt = gyro_integral_dt; +imu_data.gyro_dt = gyro_integral_dt ./ 1e6; imu_data.del_ang = [gyro_rad0.*imu_data.gyro_dt, gyro_rad1.*imu_data.gyro_dt, gyro_rad2.*imu_data.gyro_dt]; -imu_data.accel_dt = accelerometer_integral_dt; +imu_data.accel_dt = accelerometer_integral_dt ./ 1e6; imu_data.del_vel = [accelerometer_m_s20.*imu_data.accel_dt, accelerometer_m_s21.*imu_data.accel_dt, accelerometer_m_s22.*imu_data.accel_dt]; %% convert magnetomer data