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attitude_estimator_ekf: hotfix, do mag declination rotation matrix initialization

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Anton Babushkin
2014-03-10 23:39:31 +04:00
parent 368c2390cf
commit ddb94ceba8
1 changed files with 3 additions and 0 deletions
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3
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
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@@ -477,6 +477,9 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
dt = 0.005f;
parameters_update(&ekf_param_handles, &ekf_params);
/* update mag declination rotation matrix */
R_decl.from_euler(0.0f, 0.0f, ekf_params.mag_decl);
x_aposteriori_k[0] = z_k[0];
x_aposteriori_k[1] = z_k[1];
x_aposteriori_k[2] = z_k[2];