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Fixed LPE bug for accel bias estimation.

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jgoppert
2015-10-26 15:59:36 -04:00
parent 5c741ed3b6
commit 1e7da5064f
1 changed files with 1 additions and 2 deletions
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src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
+1 -2
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@@ -749,8 +749,7 @@ void BlockLocalPositionEstimator::predict()
if (_integrate.get() && _sub_att.get().R_valid) {
Matrix3f R_att(_sub_att.get().R);
Vector3f a(_sub_sensor.get().accelerometer_m_s2);
Vector3f b(_x(X_bx), _x(X_by), _x(X_bz));
_u = R_att * (a - b);
_u = R_att * a;
_u(U_az) += 9.81f; // add g
} else {