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Merged master into driver_framework

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Lorenz Meier
2015-12-01 12:34:02 +01:00
parent 1e99b04d9c 93bb1ab80f
commit f0a4979da6
109 changed files with 5346 additions and 359 deletions
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src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+3 -1
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@@ -856,7 +856,9 @@ void AttitudePositionEstimatorEKF::publishControlState()
/* Accelerations in Body Frame */
_ctrl_state.x_acc = _ekf->accel.x;
_ctrl_state.y_acc = _ekf->accel.y;
_ctrl_state.z_acc = _ekf->accel.z;
_ctrl_state.z_acc = _ekf->accel.z - _ekf->states[13];
_ctrl_state.horz_acc_mag = _ekf->getAccNavMagHorizontal();
/* Velocity in Body Frame */
Vector3f v_n(_ekf->states[4], _ekf->states[5], _ekf->states[6]);
src/modules/ekf_att_pos_estimator/estimator_22states.h
+2
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@@ -382,6 +382,8 @@ public:
void get_covariance(float c[28]);
float getAccNavMagHorizontal() { return _accNavMagHorizontal; }
protected:
/**