rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-12-02 10:24:11 +01:00
Code Issues Releases Activity

Merge branch 'D-Lite/OP-1021_attitude_drift' into next

Browse Source
This commit is contained in:
Werner Backes 2013-06-21 14:49:46 +02:00
commit 479c93f0a4
1 changed files with 1 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
flight/modules/Attitude/revolution/attitude.c
View File

@ -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]);
@ -485,7 +479,7 @@ static int32_t updateAttitudeComplementary(bool first_run)
grot_mag = 1.0f;
}
// TODO! check grot_mag value for correctness.
// TODO! check grot_mag & accel vector magnitude values for correctness.
accel_err[0] /= (accel_mag * grot_mag);
accel_err[1] /= (accel_mag * grot_mag);