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Merged parameter changes

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Lorenz Meier
2012-08-22 09:19:43 +02:00
parent 72979032e9 c8645a7e53
commit d2e757aa3c
15 changed files with 375 additions and 72 deletions
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apps/px4/attitude_estimator_bm/attitude_estimator_bm.c
+9 -9
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@@ -96,16 +96,16 @@ int attitude_estimator_bm_update(struct sensor_combined_s *raw, float_vect3 *eul
mag_values.y = raw->magnetometer_ga[1]*456.0f;
mag_values.z = raw->magnetometer_ga[2]*456.0f;
static int i = 0;
// static int i = 0;
if (i == 500) {
printf("gyro: %8.4f\t%8.4f\t%8.4f\t accel: %8.4f\t%8.4f\t%8.4f\t mag: %8.4f\t%8.4f\t%8.4f\t\n",
gyro_values.x, gyro_values.y, gyro_values.z,
accel_values.x, accel_values.y, accel_values.z,
mag_values.x, mag_values.y, mag_values.z);
i = 0;
}
i++;
// if (i == 500) {
// printf("[att estim bm] gyro: %8.4f\t%8.4f\t%8.4f\t accel: %8.4f\t%8.4f\t%8.4f\t mag: %8.4f\t%8.4f\t%8.4f\t\n",
// gyro_values.x, gyro_values.y, gyro_values.z,
// accel_values.x, accel_values.y, accel_values.z,
// mag_values.x, mag_values.y, mag_values.z);
// i = 0;
// }
// i++;
attitude_blackmagic(&accel_values, &mag_values, &gyro_values);