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Hotfix: Rely on gyro calibration

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Lorenz Meier
2013-08-31 11:38:29 +02:00
parent fb4ca82b84
commit 87f7ebdd75
1 changed files with 12 additions and 10 deletions
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src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+12 -10
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@@ -308,18 +308,20 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
orb_copy(ORB_ID(sensor_combined), sub_raw, &raw); orb_copy(ORB_ID(sensor_combined), sub_raw, &raw);
if (!initialized) { if (!initialized) {
// XXX disabling init for now
initialized = true;
gyro_offsets[0] += raw.gyro_rad_s[0]; // gyro_offsets[0] += raw.gyro_rad_s[0];
gyro_offsets[1] += raw.gyro_rad_s[1]; // gyro_offsets[1] += raw.gyro_rad_s[1];
gyro_offsets[2] += raw.gyro_rad_s[2]; // gyro_offsets[2] += raw.gyro_rad_s[2];
offset_count++; // offset_count++;
if (hrt_absolute_time() - start_time > 3000000LL) { // if (hrt_absolute_time() - start_time > 3000000LL) {
initialized = true; // initialized = true;
gyro_offsets[0] /= offset_count; // gyro_offsets[0] /= offset_count;
gyro_offsets[1] /= offset_count; // gyro_offsets[1] /= offset_count;
gyro_offsets[2] /= offset_count; // gyro_offsets[2] /= offset_count;
} // }
} else { } else {