fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-06 16:08:53 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixed param issue.

Browse Source
This commit is contained in:
James Goppert
2013-01-15 11:16:28 -05:00
parent d02a24ec82
commit 8b6660fc36
1 changed files with 2 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
apps/examples/kalman_demo/KalmanNav.cpp
+2 -2
View File
@@ -475,8 +475,8 @@ void KalmanNav::correctAtt()
// mag predicted measurement
// choosing some typical magnetic field properties,
// TODO dip/dec depend on lat/ lon/ time
static const float dip = _magDip.get() / M_RAD_TO_DEG_F; // dip, inclination with level
static const float dec = _magDec.get() / M_RAD_TO_DEG_F; // declination, clockwise rotation from north
float dip = _magDip.get() / M_RAD_TO_DEG_F; // dip, inclination with level
float dec = _magDec.get() / M_RAD_TO_DEG_F; // declination, clockwise rotation from north
float bN = cosf(dip) * cosf(dec);
float bE = cosf(dip) * sinf(dec);
float bD = sinf(dip);