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Code Issues Releases Activity

OP-1374 hotfix to filtercf on checking of magnetometer calibration fabsf()

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This commit is contained in:
Corvus Corax 2014-06-29 18:36:46 +02:00
parent 30491c7992
commit 80d3d7c954
1 changed files with 1 additions and 1 deletions
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2
flight/modules/StateEstimation/filtercf.c
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@ -234,7 +234,7 @@ static filterResult complementaryFilter(struct data *this, float gyro[3], float
float magBias[3]; float magBias[3];
RevoCalibrationmag_biasArrayGet(magBias); RevoCalibrationmag_biasArrayGet(magBias);
// don't trust Mag for initial orientation if it has not been calibrated // don't trust Mag for initial orientation if it has not been calibrated
if (magBias[0] < 1e-6f && magBias[1] < 1e-6f && magBias[2] < 1e-6f) { if (fabsf(magBias[0]) < 1e-6f && fabsf(magBias[1]) < 1e-6f && fabsf(magBias[2]) < 1e-6f) {
this->magCalibrated = false; this->magCalibrated = false;
mag[0] = 100.0f; mag[0] = 100.0f;
mag[1] = 0.0f; mag[1] = 0.0f;