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Merge branch 'paul_estimator' of github.com:PX4/Firmware into paul_estimator

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Lorenz Meier
2014-01-13 08:34:38 +01:00
parent 605ca6cc8a 6b55baad78
commit 6929387efc
1 changed files with 8 additions and 4 deletions
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src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp
+8 -4
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@@ -875,12 +875,16 @@ int fw_att_pos_estimator_main(int argc, char *argv[])
math::Quaternion q(states[0], states[1], states[2], states[3]);
math::EulerAngles euler(q);
printf("attitude: roll: %8.4f, pitch %8.4f, yaw: %8.4f degrees",
printf("attitude: roll: %8.4f, pitch %8.4f, yaw: %8.4f degrees\n",
(double)math::degrees(euler.getPhi()), (double)math::degrees(euler.getTheta()), (double)math::degrees(euler.getPsi()));
printf("states [1-3]: %8.4f, %8.4f, %8.4f\n", (double)states[0], (double)states[1], (double)states[2]);
printf("states [4-6]: %8.4f, %8.4f, %8.4f\n", (double)states[3], (double)states[4], (double)states[5]);
printf("states [7-9]: %8.4f, %8.4f, %8.4f\n", (double)states[6], (double)states[7], (double)states[8]);
printf("states [1-4]: %8.4f, %8.4f, %8.4f, %8.4f\n", (double)states[0], (double)states[1], (double)states[2], (double)states[3]);
printf("states [5-7]: %8.4f, %8.4f, %8.4f\n", (double)states[4], (double)states[5], (double)states[6]);
printf("states [8-10]: %8.4f, %8.4f, %8.4f\n", (double)states[7], (double)states[8], (double)states[9]);
printf("states [11-13]: %8.4f, %8.4f, %8.4f\n", (double)states[10], (double)states[11], (double)states[12]);
printf("states [14-16]: %8.4f, %8.4f, %8.4f\n", (double)states[13], (double)states[14], (double)states[15]);
printf("states [17-19]: %8.4f, %8.4f, %8.4f\n", (double)states[16], (double)states[17], (double)states[18]);
printf("states [20-21]: %8.4f, %8.4f\n", (double)states[19], (double)states[20]);
exit(0);
} else {