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ahrs_int_cmpl_quat: yaw update via heading measurement

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- added ahrs_update_heading which gets called from ahrs_update_gps with gps course
- define AHRS_USE_GPS_HEADING in your airframe file to use it
This commit is contained in:
Felix Ruess
2012-02-03 18:41:20 +01:00
parent 4987969123
commit 7924f0d6fa
4 changed files with 57 additions and 3 deletions
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conf/airframes/fraser_lisa_m_rotorcraft.xml
+1 -1
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@@ -25,7 +25,7 @@
<subsystem name="imu" type="aspirin_v1.5"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="euler"/>
<subsystem name="ahrs" type="int_cmpl_euler"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
</firmware>
<firmware name="lisa_m_test_progs">