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[fix] typo and body_accel update

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This commit is contained in:
Gautier Hattenberger
2019-07-01 13:04:44 +02:00
parent 57b4448205
commit c8dba29208
2 changed files with 2 additions and 1 deletions
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conf/settings/estimation/ins_sonar.xml
+1 -1
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@@ -3,7 +3,7 @@
<settings>
<dl_settings>
<dl_settings NAME="sonar">
<dl_setting MAX="1" MIN="0" STEP="1" VAR="ins_impl.update_on_agl" shortname="use_sonar" values="FALSE|TRUE" module="subsystems/ins/vf_extended_float"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="ins_int.update_on_agl" shortname="use_sonar" values="FALSE|TRUE" module="subsystems/ins/vf_extended_float"/>
</dl_settings>
</dl_settings>
</settings>
sw/airborne/subsystems/ins/ins_gps_passthrough.c
+1
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@@ -203,6 +203,7 @@ static void accel_cb(uint8_t sender_id __attribute__((unused)),
struct Int32Vect3 accel_body, accel_ned;
struct Int32RMat *body_to_imu_rmat = orientationGetRMat_i(&body_to_imu);
int32_rmat_transp_vmult(&accel_body, body_to_imu_rmat, accel);
stateSetAccelBody_i(&accel_body);
struct Int32RMat *ned_to_body_rmat = stateGetNedToBodyRMat_i();
int32_rmat_transp_vmult(&accel_ned, ned_to_body_rmat, &accel_body);
accel_ned.z += ACCEL_BFP_OF_REAL(9.81);