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attitude_estimator_ekf: acc comp bug fixed, estimated gravity vector logging

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Anton Babushkin
2014-01-20 23:44:04 +01:00
parent 7956c8b08e
commit 2e472cf918
5 changed files with 37 additions and 22 deletions
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src/modules/sdlog2/sdlog2.c
+3
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@@ -1161,6 +1161,9 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_ATT.roll_rate = buf.att.rollspeed;
log_msg.body.log_ATT.pitch_rate = buf.att.pitchspeed;
log_msg.body.log_ATT.yaw_rate = buf.att.yawspeed;
log_msg.body.log_ATT.gx = buf.att.g_comp[0];
log_msg.body.log_ATT.gy = buf.att.g_comp[1];
log_msg.body.log_ATT.gz = buf.att.g_comp[2];
LOGBUFFER_WRITE_AND_COUNT(ATT);
}