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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/uORB/topics/vehicle_attitude.h
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@@ -76,6 +76,7 @@ struct vehicle_attitude_s {
float rate_offsets[3]; /**< Offsets of the body angular rates from zero */
float R[3][3]; /**< Rotation matrix body to world, (Tait-Bryan, NED) */
float q[4]; /**< Quaternion (NED) */
float g_comp[3]; /**< Compensated gravity vector */
bool R_valid; /**< Rotation matrix valid */
bool q_valid; /**< Quaternion valid */