The current default imu-trimming for fixedwing... another FIXME

paparazzi · May 6, 2011 · dfd47df · dfd47df
1 parent ce328a9
commit dfd47df
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diff --git a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl.c b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl.c
@@ -323,6 +323,15 @@ __attribute__ ((always_inline)) static inline void compute_body_orientation(void
 
 // TODO use ahrs result directly
 #include "estimator.h"
+// remotely settable
+#ifndef INS_ROLL_NEUTRAL_DEFAULT
+#define INS_ROLL_NEUTRAL_DEFAULT 0
+#endif
+#ifndef INS_PITCH_NEUTRAL_DEFAULT
+#define INS_PITCH_NEUTRAL_DEFAULT 0
+#endif
+float ins_roll_neutral = INS_ROLL_NEUTRAL_DEFAULT;
+float ins_pitch_neutral = INS_PITCH_NEUTRAL_DEFAULT;
 void ahrs_update_fw_estimator(void)
 {
   struct FloatEulers att;

diff --git a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl.h b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl.h
@@ -43,6 +43,9 @@ extern struct AhrsIntCmpl ahrs_impl;
 
 // TODO copy ahrs to state instead of estimator
 void ahrs_update_fw_estimator(void);
+extern float ins_roll_neutral;
+extern float ins_pitch_neutral;
+
 
 
 #endif /* AHRS_INT_CMPL_H */