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Use the already compensated mag vector and initialize offsets to zero

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This commit is contained in:
Lorenz Meier 2014-01-02 19:18:19 +01:00
parent c5f24e494c
commit cbac002fb3
1 changed files with 4 additions and 3 deletions
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src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp
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@ -528,14 +528,15 @@ FixedwingEstimator::task_main()
if (_initialized) {
// XXX we compensate the offsets upfront - should be close to zero.
magData.x = _mag.x;
magBias.x = -_mag_offsets.x_offset;
magBias.x = 0.0f; // _mag_offsets.x_offset
magData.y = _mag.y;
magBias.y = -_mag_offsets.y_offset;
magBias.y = 0.0f; // _mag_offsets.y_offset
magData.z = _mag.z;
magBias.z = -_mag_offsets.z_offset;
magBias.z = 0.0f; // _mag_offsets.y_offset
fuseMagData = true;
RecallStates(statesAtMagMeasTime, (IMUmsec - _parameters.mag_delay_ms));