From 1a107bd7bf75a01ad199a5cdb3eb54c46011a3d9 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 9 Jan 2013 16:56:23 +0100 Subject: [PATCH] Added warning, needs more work on the rotation matrix output --- apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c | 2 ++ 1 file changed, 2 insertions(+) diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c index e373c531be..2e0c962c2f 100644 --- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c +++ b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c @@ -413,6 +413,8 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[]) /* send out */ att.timestamp = raw.timestamp; + + // XXX Apply the same transformation to the rotation matrix att.roll = euler[0] - ekf_params.roll_off; att.pitch = euler[1] - ekf_params.pitch_off; att.yaw = euler[2] - ekf_params.yaw_off;