rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-01-17 02:52:12 +01:00
Code Issues Releases Activity

Clarify comment about gravity vector

Browse Source
This commit is contained in:
Erik Gustavsson 2012-11-11 21:13:05 +01:00
parent 04c194fa48
commit e38ba912cd
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
flight/Modules/Attitude/attitude.c
View File

@ -470,7 +470,7 @@ static void updateAttitude(AccelsData * accelsData, GyrosData * gyrosData)
// Apply smoothing to accel values, to reduce vibration noise before main calculations.
apply_accel_filter(accels, accels_filtered);
// Rotate gravity to body frame, filter and cross with accels
// Rotate gravity unit vector to body frame, filter and cross with accels
grot[0] = -(2 * (q[1] * q[3] - q[0] * q[2]));
grot[1] = -(2 * (q[2] * q[3] + q[0] * q[1]));
grot[2] = -(q[0] * q[0] - q[1]*q[1] - q[2]*q[2] + q[3]*q[3]);