From f8cef1e9abb606d045791b8581668fd22a899e20 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Wed, 4 Jan 2017 14:49:04 +0100 Subject: [PATCH] attitude_estimator_q: populate control state gyro bias data Populate with zeros. TODO provide estimate. --- .../attitude_estimator_q/attitude_estimator_q_main.cpp | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp index d9ac31acaa..349c5d1c30 100644 --- a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp +++ b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp @@ -492,11 +492,14 @@ void AttitudeEstimatorQ::task_main() /* attitude rates for control state */ ctrl_state.roll_rate = _rates(0); - ctrl_state.pitch_rate = _rates(1); - ctrl_state.yaw_rate = _rates(2); + /* TODO get bias estimates from estimator */ + ctrl_state.roll_rate_bias = 0.0f; + ctrl_state.pitch_rate_bias = 0.0f; + ctrl_state.yaw_rate_bias = 0.0f; + ctrl_state.airspeed_valid = false; if (_airspeed_mode == control_state_s::AIRSPD_MODE_MEAS) {