fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-23 15:17:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

sensors/vehicle_angular_velocity: don't remove bias twice

Browse Source
This commit is contained in:
Daniel Agar
2020-05-10 14:53:52 -04:00
parent ec2cd3b1be
commit 2bbdef205e
1 changed files with 1 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
+1 -4
View File
@@ -257,10 +257,7 @@ void VehicleAngularVelocity::Run()
const Vector3f val{sensor_data.x, sensor_data.y, sensor_data.z};
// correct for in-run bias errors
Vector3f angular_velocity_raw = _corrections.Correct(val) - _bias;
// correct for in-run bias errors
angular_velocity_raw -= _bias;
const Vector3f angular_velocity_raw = _corrections.Correct(val) - _bias;
// Differentiate angular velocity (after notch filter)
const Vector3f angular_velocity_notched{_notch_filter_velocity.apply(angular_velocity_raw)};