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Code Issues Releases Activity

LP-482 Fix Complementary Mag integral sign

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This commit is contained in:
Laurent Lalanne 2017-06-17 16:49:40 +02:00
parent ea41e40a4a
commit ee7d630e3e
1 changed files with 1 additions and 1 deletions
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2
flight/modules/StateEstimation/filtercf.c
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@ -423,7 +423,7 @@ static filterResult complementaryFilter(struct data *this, float gyro[3], float
this->gyroBias[0] -= accel_err[0] * this->attitudeSettings.AccelKi - gyro[0] * this->rollPitchBiasRate;
this->gyroBias[1] -= accel_err[1] * this->attitudeSettings.AccelKi - gyro[1] * this->rollPitchBiasRate;
if (this->useMag) {
this->gyroBias[2] -= -mag_err[2] * this->attitudeSettings.MagKi - gyro[2] * this->rollPitchBiasRate;
this->gyroBias[2] -= mag_err[2] * this->attitudeSettings.MagKi - gyro[2] * this->rollPitchBiasRate;
} else {
this->gyroBias[2] -= -gyro[2] * this->rollPitchBiasRate;
}