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Fixed incorrect scaling of acceleration values

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Lorenz Meier
2012-08-19 09:35:58 +02:00
parent dcf71d5f69
commit 2a5fcd9174
3 changed files with 8 additions and 8 deletions
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apps/px4/attitude_estimator_bm/attitude_estimator_bm.c
+3 -3
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@@ -87,9 +87,9 @@ int attitude_estimator_bm_update(struct sensor_combined_s *raw, float_vect3 *eul
gyro_values.z = raw->gyro_rad_s[2];
float_vect3 accel_values;
accel_values.x = raw->accelerometer_m_s2[0];
accel_values.y = raw->accelerometer_m_s2[1];
accel_values.z = raw->accelerometer_m_s2[2];
accel_values.x = raw->accelerometer_m_s2[0] * 9.81f;
accel_values.y = raw->accelerometer_m_s2[1] * 9.81f;
accel_values.z = raw->accelerometer_m_s2[2] * 9.81f;
float_vect3 mag_values;
mag_values.x = raw->magnetometer_ga[0]*100.0f;