More black magic put into the attitude estimation - works nicely now

apps/commander/commander.c

@@ -555,7 +555,7 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status)
 	/* add the removed length from x / y to z, since we induce a scaling issue else */
 	float total_len = sqrtf(accel_offset[0]*accel_offset[0] + accel_offset[1]*accel_offset[1] + accel_offset[2]*accel_offset[2]);
 
-	accel_offset[2] = -(accel_offset[2] + total_len);
+	accel_offset[2] = accel_offset[2] + total_len;
 
 	if (param_set(param_find("SENSOR_ACC_XOFF"), &(accel_offset[0]))) {
 		mavlink_log_critical(mavlink_fd, "[commander] Setting X accel offset failed!");

apps/px4/attitude_estimator_bm/attitude_bm.c

@@ -147,9 +147,9 @@ void attitude_blackmagic_init(void)
 //	};
 
 	static m_elem kal_gain[12 * 9] = {
-		0.0006f , 0    ,   0    ,   0    ,   0    ,   0    ,   0   ,    0    ,   0,
-		0   ,    0.0006f , 0   ,    0   ,    0   ,    0   ,    0   ,    0   ,    0,
-		0   ,    0    ,   0.0006f , 0   ,    0   ,    0   ,    0   ,    0   ,    0,
+		0.001f , 0    ,   0    ,   0    ,   0    ,   0    ,   0   ,    0    ,   0,
+		0   ,    0.001f , 0   ,    0   ,    0   ,    0   ,    0   ,    0   ,    0,
+		0   ,    0    ,   0.001f , 0   ,    0   ,    0   ,    0   ,    0   ,    0,
 		0   ,    0    ,   0   ,    0.015f, 	0   ,    0   ,    0   ,    0   ,    0,
 		0   ,    0   ,    0   ,    0    ,   0.015f, 	 0   ,    0   ,    0   ,    0,
 		0   ,    0    ,   0   ,    0    ,   0   ,    0.015f, 	  0   ,    0   ,    0,

apps/px4/attitude_estimator_bm/attitude_estimator_bm.c

@@ -87,14 +87,14 @@ int attitude_estimator_bm_update(struct sensor_combined_s *raw, float_vect3 *eul
 	gyro_values.z =  raw->gyro_rad_s[2];
 
 	float_vect3 accel_values;
-	accel_values.x = (raw->accelerometer_m_s2[0] / 9.81f) * 100;
-	accel_values.y = (raw->accelerometer_m_s2[1] / 9.81f) * 100;
-	accel_values.z = (raw->accelerometer_m_s2[2] / 9.81f) * 100;
+	accel_values.x = (raw->accelerometer_m_s2[0] / 9.81f) * 120;
+	accel_values.y = (raw->accelerometer_m_s2[1] / 9.81f) * 120;
+	accel_values.z = (raw->accelerometer_m_s2[2] / 9.81f) * 120;
 
 	float_vect3 mag_values;
-	mag_values.x = raw->magnetometer_ga[0]*456.0f;
-	mag_values.y = raw->magnetometer_ga[1]*456.0f;
-	mag_values.z = raw->magnetometer_ga[2]*456.0f;
+	mag_values.x = raw->magnetometer_ga[0]*1500.0f;
+	mag_values.y = raw->magnetometer_ga[1]*1500.0f;
+	mag_values.z = raw->magnetometer_ga[2]*1500.0f;
 
 	// static int i = 0;