fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-28 16:43:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

publish acceleration in control state

Browse Source
This commit is contained in:
tumbili
2016-04-12 14:23:29 +02:00
parent 22847e49e7
commit c2c6b222bf
1 changed files with 4 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
+4
View File
@@ -615,6 +615,10 @@ void AttitudeEstimatorQ::task_main()
ctrl_state.q[2] = _q(2); ctrl_state.q[2] = _q(2);
ctrl_state.q[3] = _q(3); ctrl_state.q[3] = _q(3);
ctrl_state.x_acc = _accel(0);
ctrl_state.y_acc = _accel(1);
ctrl_state.z_acc = _accel(2);
/* attitude rates for control state */ /* attitude rates for control state */
ctrl_state.roll_rate = _lp_roll_rate.apply(_rates(0)); ctrl_state.roll_rate = _lp_roll_rate.apply(_rates(0));