From 0f5e354f993a5ccb8d44fc1b32a8f5bd3355e606 Mon Sep 17 00:00:00 2001 From: Werner Backes Date: Thu, 20 Jun 2013 12:42:22 +0200 Subject: [PATCH] Removed first occurance of accel_err scaling. We don't want to do this twice. --- flight/modules/Attitude/revolution/attitude.c | 6 ------ 1 file changed, 6 deletions(-) diff --git a/flight/modules/Attitude/revolution/attitude.c b/flight/modules/Attitude/revolution/attitude.c index c955e25ed..f1cd7a714 100644 --- a/flight/modules/Attitude/revolution/attitude.c +++ b/flight/modules/Attitude/revolution/attitude.c @@ -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]);