paparazzi/paparazzi — pull request #100 by flixr (2011-12-07 14:53:19+00:00)
Title: Ahrs gravity correction for int_cmpl_quat

Use AHRS_GRAVITY_UPDATE_COORDINATED_TURN in fixedwing case.

Fixed the gravity update to correctly take body_to_imu into account and populate ltp_vel_norm from gps.speed_3d

This is still untested, but *should* (tm) work..