fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-21 09:07:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Hotfix: Rely on gyro calibration

Browse Source
This commit is contained in:
Lorenz Meier
2013-08-31 11:38:29 +02:00
parent fb4ca82b84
commit 87f7ebdd75
1 changed files with 12 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+12 -10
View File
@@ -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 {