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Code Issues Releases Activity

OP-1743 - Fix attitude issue on CC3D

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This commit is contained in:
Alessio Morale 2015-02-24 22:39:34 +01:00
parent bcbb1d08e4
commit a01cab1e72
1 changed files with 6 additions and 6 deletions
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12
flight/modules/Attitude/attitude.c
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@ -767,13 +767,13 @@ static void settingsUpdatedCb(__attribute__((unused)) UAVObjEvent *objEv)
accel_bias.Y = accelGyroSettings.accel_bias.Y;
accel_bias.Z = accelGyroSettings.accel_bias.Z;
gyro_scale.X = accelGyroSettings.gyro_scale.X * scales[0];
gyro_scale.Y = accelGyroSettings.gyro_scale.Y * scales[0];
gyro_scale.Z = accelGyroSettings.gyro_scale.Z * scales[0];
gyro_scale.X = accelGyroSettings.gyro_scale.X * scales[1];
gyro_scale.Y = accelGyroSettings.gyro_scale.Y * scales[1];
gyro_scale.Z = accelGyroSettings.gyro_scale.Z * scales[1];
accel_scale.X = accelGyroSettings.accel_scale.X * scales[1];
accel_scale.Y = accelGyroSettings.accel_scale.Y * scales[1];
accel_scale.Z = accelGyroSettings.accel_scale.Z * scales[1];
accel_scale.X = accelGyroSettings.accel_scale.X * scales[0];
accel_scale.Y = accelGyroSettings.accel_scale.Y * scales[0];
accel_scale.Z = accelGyroSettings.accel_scale.Z * scales[0];
} else {
// Original CC with analog gyros and ADXL accel
accel_bias.X = accelGyroSettings.accel_bias.X;