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Merge branch 'corvuscorax/OP-946_refaktor_sensor_and_state' into corvuscorax/OP-947_stateestimator-module

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Corvus Corax 2013-05-20 20:53:46 +02:00
commit 3dda543608
1 changed files with 2 additions and 2 deletions
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4
flight/modules/Attitude/revolution/attitude.c
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@ -476,8 +476,8 @@ static int32_t updateAttitudeComplementary(bool first_run)
// Accumulate integral of error. Scale here so that units are (deg/s) but Ki has units of s
gyro_bias[0] -= accel_err[0] * attitudeSettings.AccelKi;
gyro_bias[0] -= accel_err[1] * attitudeSettings.AccelKi;
gyro_bias[0] -= mag_err[2] * magKi;
gyro_bias[1] -= accel_err[1] * attitudeSettings.AccelKi;
gyro_bias[2] -= mag_err[2] * magKi;
// Correct rates based on integral coefficient
gyroStateData.x -= gyro_bias[0];