[paparazzi-commits] [5057] make fms spi autopilot msg body to imu rotation from airframe rather than hard coded to 0

[Allen Ibara]

Revision: 5057
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5057
Author:   aibara
Date:     2010-07-15 20:00:31 +0000 (Thu, 15 Jul 2010)
Log Message:
-----------
make fms spi autopilot msg body to imu rotation from airframe rather than hard 
coded to 0

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/fms/fms_spi_autopilot_msg.c

Modified: paparazzi3/trunk/sw/airborne/fms/fms_spi_autopilot_msg.c
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/fms_spi_autopilot_msg.c    2010-07-15 
18:47:05 UTC (rev 5056)
+++ paparazzi3/trunk/sw/airborne/fms/fms_spi_autopilot_msg.c    2010-07-15 
20:00:31 UTC (rev 5057)
@@ -47,6 +47,7 @@
 #include "rdyb_mahrs.h"
 
 static struct BoozImuFloat imu;
+static struct FloatEulers body_to_imu_eulers = LISA_BODY_TO_IMU_EULERS;
 
 static void (* vane_callback)(uint8_t vane_id, float alpha, float beta) = NULL;
 static void (* pressure_callback)(uint8_t pressure_id, uint32_t pressure1, 
uint32_t pressure2) = NULL;
@@ -82,9 +83,7 @@
   }
 
   // Initialize IMU->Body orientation
-  imu.body_to_imu_eulers.phi = 0;
-  imu.body_to_imu_eulers.theta = 0;
-  imu.body_to_imu_eulers.psi = 0;
+  imu.body_to_imu_eulers = body_to_imu_eulers;
 
   FLOAT_QUAT_OF_EULERS(imu.body_to_imu_quat, imu.body_to_imu_eulers);
   FLOAT_QUAT_NORMALISE(imu.body_to_imu_quat);