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Fix incorrect addition of G to attitude EKF

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Lorenz Meier 2015-10-15 11:13:24 +02:00
parent a3552896ca
commit 73e9d27acf
1 changed files with 1 additions and 1 deletions
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2
src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
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@ -1267,7 +1267,7 @@ void AttitudePositionEstimatorEKF::pollData()
} else {
_ekf->dVelIMU.x = 0.5f * (_ekf->accel.x + _sensor_combined.accelerometer_m_s2[_accel_main * 3 + 0]);
_ekf->dVelIMU.y = 0.5f * (_ekf->accel.y + _sensor_combined.accelerometer_m_s2[_accel_main * 3 + 1]);
_ekf->dVelIMU.z = 0.5f * (_ekf->accel.z + _sensor_combined.accelerometer_m_s2[_accel_main * 3 + 2]) + 9.80665f;
_ekf->dVelIMU.z = 0.5f * (_ekf->accel.z + _sensor_combined.accelerometer_m_s2[_accel_main * 3 + 2]);
}
_ekf->accel.x = _sensor_combined.accelerometer_m_s2[_accel_main * 3 + 0];