From 3b9bfcc7a20f2bfb0562ee8cf630e8f49cbbdede Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Sat, 19 Apr 2014 22:46:06 +0200 Subject: [PATCH 1/2] attitude_estimator_ekf: use degrees for ATT_MAG_DECL parameter to be consistent with documentation --- .../attitude_estimator_ekf/attitude_estimator_ekf_params.c | 1 + 1 file changed, 1 insertion(+) diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c index 4154e3db4a..528ef45fa8 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c @@ -113,6 +113,7 @@ int parameters_update(const struct attitude_estimator_ekf_param_handles *h, stru param_get(h->yaw_off, &(p->yaw_off)); param_get(h->mag_decl, &(p->mag_decl)); + p->mag_decl *= M_PI / 180.0f; param_get(h->acc_comp, &(p->acc_comp)); From 7372693fb9145281ea7ad0dd78c57bc780ef6c07 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Sat, 19 Apr 2014 22:56:58 +0200 Subject: [PATCH 2/2] attitude_estimator_ekf: added missing include --- .../attitude_estimator_ekf/attitude_estimator_ekf_params.c | 1 + 1 file changed, 1 insertion(+) diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c index 528ef45fa8..3ff3d99229 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c @@ -40,6 +40,7 @@ */ #include "attitude_estimator_ekf_params.h" +#include /* Extended Kalman Filter covariances */