fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-27 07:33:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'master' into px4dev_new_param

Browse Source
This commit is contained in:
Lorenz Meier
2012-08-20 13:16:09 +02:00
parent f20c61ccdf 78db6c990b
commit e3fffa23e0
3 changed files with 16 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files
apps/px4/attitude_estimator_bm/attitude_estimator_bm.c
+6 -6
View File
@@ -87,14 +87,14 @@ int attitude_estimator_bm_update(struct sensor_combined_s *raw, float_vect3 *eul
gyro_values.z = raw->gyro_rad_s[2];
float_vect3 accel_values;
accel_values.x = raw->accelerometer_m_s2[0] * 9.81f;
accel_values.y = raw->accelerometer_m_s2[1] * 9.81f;
accel_values.z = raw->accelerometer_m_s2[2] * 9.81f;
accel_values.x = raw->accelerometer_m_s2[0] * 9.81f * 9.0f;
accel_values.y = raw->accelerometer_m_s2[1] * 9.81f * 9.0f;
accel_values.z = raw->accelerometer_m_s2[2] * 9.81f * 9.0f;
float_vect3 mag_values;
mag_values.x = raw->magnetometer_ga[0]*100.0f;
mag_values.y = raw->magnetometer_ga[1]*100.0f;
mag_values.z = raw->magnetometer_ga[2]*100.0f;
mag_values.x = raw->magnetometer_ga[0]*510.0f;
mag_values.y = raw->magnetometer_ga[1]*510.0f;
mag_values.z = raw->magnetometer_ga[2]*510.0f;
attitude_blackmagic(&accel_values, &mag_values, &gyro_values);