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fix heading in ahrs_sim, need to check what exactly psi is that comes from the ocaml sim

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Felix Ruess
2011-10-05 01:58:44 +02:00
parent f53b55101d
commit 925d745e2e
1 changed files with 3 additions and 1 deletions
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sw/airborne/subsystems/ahrs/ahrs_sim.c
+3 -1
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@@ -47,7 +47,9 @@ void compute_body_orientation_and_rates(void);
void update_attitude_from_sim(void) {
ahrs_float.ltp_to_imu_euler.phi = sim_phi;
ahrs_float.ltp_to_imu_euler.theta = sim_theta;
ahrs_float.ltp_to_imu_euler.psi = sim_psi;
ahrs_float.ltp_to_imu_euler.psi = -sim_psi;
FLOAT_ANGLE_NORMALIZE(ahrs_float.ltp_to_imu_euler.psi);
ahrs_float.ltp_to_imu_euler.psi += M_PI/2.;
/* set quaternion and rotation matrix representations as well */
FLOAT_QUAT_OF_EULERS(ahrs_float.ltp_to_imu_quat, ahrs_float.ltp_to_imu_euler);