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Disable rate control, disable offset estimation

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This commit is contained in:
Lorenz Meier
2012-10-13 12:25:30 +02:00
parent d62ec78ab8
commit 4dbf7befe3
2 changed files with 10 additions and 9 deletions
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apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
+4 -3
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@@ -418,9 +418,10 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
att.pitch = euler[1];
att.yaw = euler[2];
att.rollspeed = x_aposteriori[0];
att.pitchspeed = x_aposteriori[1];
att.yawspeed = x_aposteriori[2];
// XXX replace with x_apo after fix to filter
att.rollspeed = raw.gyro_rad_s[0]; //x_aposteriori[0];
att.pitchspeed = raw.gyro_rad_s[1]; //x_aposteriori[1];
att.yawspeed = raw.gyro_rad_s[2]; //x_aposteriori[2];
/* copy offsets */
memcpy(&att.rate_offsets, &(x_aposteriori[3]), sizeof(att.rate_offsets));