From 87f7ebdd75ac11139f7b1ae568590ab1eabbd45c Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 31 Aug 2013 11:38:29 +0200 Subject: [PATCH] Hotfix: Rely on gyro calibration --- .../attitude_estimator_ekf_main.cpp | 22 ++++++++++--------- 1 file changed, 12 insertions(+), 10 deletions(-) diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp index 65abcde1e3..a70a14fe4b 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp @@ -308,18 +308,20 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds orb_copy(ORB_ID(sensor_combined), sub_raw, &raw); if (!initialized) { + // XXX disabling init for now + initialized = true; - gyro_offsets[0] += raw.gyro_rad_s[0]; - gyro_offsets[1] += raw.gyro_rad_s[1]; - gyro_offsets[2] += raw.gyro_rad_s[2]; - offset_count++; + // gyro_offsets[0] += raw.gyro_rad_s[0]; + // gyro_offsets[1] += raw.gyro_rad_s[1]; + // gyro_offsets[2] += raw.gyro_rad_s[2]; + // offset_count++; - if (hrt_absolute_time() - start_time > 3000000LL) { - initialized = true; - gyro_offsets[0] /= offset_count; - gyro_offsets[1] /= offset_count; - gyro_offsets[2] /= offset_count; - } + // if (hrt_absolute_time() - start_time > 3000000LL) { + // initialized = true; + // gyro_offsets[0] /= offset_count; + // gyro_offsets[1] /= offset_count; + // gyro_offsets[2] /= offset_count; + // } } else {