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attitude_estimator_q: populate control state gyro bias data

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Populate with zeros.
TODO provide estimate.
This commit is contained in:
Paul Riseborough
2017-01-04 14:49:04 +01:00
committed by Lorenz Meier
parent 27e6f07485
commit f8cef1e9ab
1 changed files with 5 additions and 2 deletions
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src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
+5 -2
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@@ -492,11 +492,14 @@ void AttitudeEstimatorQ::task_main()
/* attitude rates for control state */ /* attitude rates for control state */
ctrl_state.roll_rate = _rates(0); ctrl_state.roll_rate = _rates(0);
ctrl_state.pitch_rate = _rates(1); ctrl_state.pitch_rate = _rates(1);
ctrl_state.yaw_rate = _rates(2); 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; ctrl_state.airspeed_valid = false;
if (_airspeed_mode == control_state_s::AIRSPD_MODE_MEAS) { if (_airspeed_mode == control_state_s::AIRSPD_MODE_MEAS) {