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More black magic put into the attitude estimation - works nicely now

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Lorenz Meier
2012-08-29 15:53:11 +02:00
parent 7d87f2b06e
commit 7cd89520cc
4 changed files with 10 additions and 1211 deletions
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apps/commander/commander.c
+1 -1
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@@ -555,7 +555,7 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status)
/* add the removed length from x / y to z, since we induce a scaling issue else */
float total_len = sqrtf(accel_offset[0]*accel_offset[0] + accel_offset[1]*accel_offset[1] + accel_offset[2]*accel_offset[2]);
accel_offset[2] = -(accel_offset[2] + total_len);
accel_offset[2] = accel_offset[2] + total_len;
if (param_set(param_find("SENSOR_ACC_XOFF"), &(accel_offset[0]))) {
mavlink_log_critical(mavlink_fd, "[commander] Setting X accel offset failed!");