fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: fix odom body rate sign bug

Browse Source
This commit is contained in:
CarlOlsson 2020-09-30 15:05:14 +02:00 committed by Daniel Agar
parent b454095776
commit 98c8cbb27f
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
src/modules/ekf2/EKF2.cpp
View File

@ -1251,7 +1251,7 @@ void EKF2::publish_odometry(const hrt_abstime &timestamp, const imuSample &imu,
// Vehicle odometry angular rates
const Vector3f gyro_bias = _ekf.getGyroBias();
const Vector3f rates(imu.delta_ang * imu.delta_ang_dt);
const Vector3f rates(imu.delta_ang / imu.delta_ang_dt);
odom.rollspeed = rates(0) - gyro_bias(0);
odom.pitchspeed = rates(1) - gyro_bias(1);
odom.yawspeed = rates(2) - gyro_bias(2);