fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-26 09:23:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

added method to get gyro bias

Browse Source 
Signed-off-by: Roman Bapst <roman@px4.io>
This commit is contained in:
Roman Bapst
2016-06-21 14:13:47 +02:00
parent 74a77b45b2
commit bec1a6831e
3 changed files with 14 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/ekf_helper.cpp
+10
View File
@@ -681,6 +681,16 @@ void Ekf::get_accel_bias(float bias[3])
memcpy(bias, temp, 3 * sizeof(float));
}
// get the gyroscope bias in rad/s
void Ekf::get_gyro_bias(float bias[3])
{
float temp[3];
temp[0] = _state.gyro_bias(0) /_dt_ekf_avg;
temp[1] = _state.gyro_bias(1) /_dt_ekf_avg;
temp[2] = _state.gyro_bias(2) /_dt_ekf_avg;
memcpy(bias, temp, 3 * sizeof(float));
}
// get the diagonal elements of the covariance matrix
void Ekf::get_covariances(float *covariances)
{