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[ahrs mlkf] Added the update all axis from magnetometer define.

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The Lisa/MX example now shows how to enable update of all axis from the
magnetometer. Disabled by default as it may cause a crash with a badly
calibrated magnetometer.
This commit is contained in:
Piotr Esden-Tempski
2015-01-26 14:01:35 -08:00
parent 8d22782e22
commit b25b4c1fe3
1 changed files with 6 additions and 1 deletions
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conf/airframes/examples/quadrotor_lisa_mx.xml
+6 -1
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@@ -33,7 +33,12 @@
<subsystem name="imu" type="lisa_mx_v2.1"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="float_mlkf"/>
<subsystem name="ahrs" type="float_mlkf">
<!-- Uncomment to enable all axis update from the Magnetometer. Do
it only if you have a very well calibrated and tested
magnetometer otherwise your attitude will drift. -->
<!--define name="AHRS_MAG_UPDATE_ALL_AXES" value="1"/-->
</subsystem>
<subsystem name="ins" type="hff"/>
<!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->