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adapted to new vehicle attitude message

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tumbili
2016-10-18 20:46:08 +02:00
committed by Lorenz Meier
parent 215bfaa377
commit 5e0e522903
16 changed files with 142 additions and 94 deletions
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src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
+12 -12
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@@ -468,26 +468,26 @@ void AttitudeEstimatorQ::task_main()
struct vehicle_attitude_s att = {};
att.timestamp = sensors.timestamp;
att.roll = euler(0);
att.pitch = euler(1);
att.yaw = euler(2);
//att.roll = euler(0);
//att.pitch = euler(1);
//att.yaw = euler(2);
att.rollspeed = _rates(0);
att.pitchspeed = _rates(1);
att.yawspeed = _rates(2);
for (int i = 0; i < 3; i++) {
att.g_comp[i] = _accel(i) - _pos_acc(i);
}
//for (int i = 0; i < 3; i++) {
// att.g_comp[i] = _accel(i) - _pos_acc(i);
//}
/* copy offsets */
memcpy(&att.rate_offsets, _gyro_bias.data, sizeof(att.rate_offsets));
///* copy offsets */
//memcpy(&att.rate_offsets, _gyro_bias.data, sizeof(att.rate_offsets));
Matrix<3, 3> R = _q.to_dcm();
//Matrix<3, 3> R = _q.to_dcm();
/* copy rotation matrix */
memcpy(&att.R[0], R.data, sizeof(att.R));
att.R_valid = true;
///* copy rotation matrix */
//memcpy(&att.R[0], R.data, sizeof(att.R));
//att.R_valid = true;
memcpy(&att.q[0], _q.data, sizeof(att.q));
att.q_valid = true;