fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-19 04:10:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

sensor_combined stores deltas in usec instead of seconds

Browse Source 
Signed-off-by: Nicolae Rosia <nicolae.rosia@gmail.com>
This commit is contained in:
Nicolae Rosia
2017-07-16 20:50:16 +03:00
parent e2a5e57e14
commit 5277141166
1 changed files with 2 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
matlab/EKF_replay/Common/convert_px4_sensor_combined_csv_data.m
+2 -2
View File
@@ -19,10 +19,10 @@ end
clear imu_data;
n_samples = length(timestamp);
imu_data.time_us = timestamp + accelerometer_timestamp_relative;
imu_data.gyro_dt = gyro_integral_dt;
imu_data.gyro_dt = gyro_integral_dt ./ 1e6;
imu_data.del_ang = [gyro_rad0.*imu_data.gyro_dt, gyro_rad1.*imu_data.gyro_dt, gyro_rad2.*imu_data.gyro_dt];
imu_data.accel_dt = accelerometer_integral_dt;
imu_data.accel_dt = accelerometer_integral_dt ./ 1e6;
imu_data.del_vel = [accelerometer_m_s20.*imu_data.accel_dt, accelerometer_m_s21.*imu_data.accel_dt, accelerometer_m_s22.*imu_data.accel_dt];
%% convert magnetomer data