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AP_AHRS: apply AHRS trim in EKF_TYPE_SITL #10406

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merged 1 commit into from Mar 11, 2019
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AP_AHRS: apply AHRS trim in EKF_TYPE_SITL #10406

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6 changes: 2 additions & 4 deletions libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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Expand Up @@ -306,11 +306,9 @@ void AP_AHRS_NavEKF::update_SITL(void)
const AP_InertialSensor &_ins = AP::ins();

if (active_EKF_type() == EKF_TYPE_SITL) {
roll = radians(fdm.rollDeg);
pitch = radians(fdm.pitchDeg);
yaw = radians(fdm.yawDeg);

fdm.quaternion.rotation_matrix(_dcm_matrix);
_dcm_matrix = _dcm_matrix * get_rotation_vehicle_body_to_autopilot_body();
_dcm_matrix.to_euler(&roll, &pitch, &yaw);

update_cd_values();
update_trig();
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