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Code Issues Releases Activity

Removed first occurance of accel_err scaling. We don't want to do this

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twice.
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Werner Backes 2013-06-20 12:42:22 +02:00
parent 8a6ef3c6d6
commit 0f5e354f99
1 changed files with 0 additions and 6 deletions
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6
flight/modules/Attitude/revolution/attitude.c
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@ -472,12 +472,6 @@ static int32_t updateAttitudeComplementary(bool first_run)
accel_mag = accels_filtered[0] * accels_filtered[0] + accels_filtered[1] * accels_filtered[1] + accels_filtered[2] * accels_filtered[2];
accel_mag = sqrtf(accel_mag);
// TODO! check accel vector magnitude value for correctness
accel_err[0] /= accel_mag;
accel_err[1] /= accel_mag;
accel_err[2] /= accel_mag;
float grot_mag;
if (accel_filter_enabled) {
grot_mag = sqrtf(grot_filtered[0] * grot_filtered[0] + grot_filtered[1] * grot_filtered[1] + grot_filtered[2] * grot_filtered[2]);