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EKF: Fix bug causing incorrect initial roll when inverted

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This commit is contained in:
Paul Riseborough 2016-02-24 11:56:12 +11:00
parent 016695fc3e
commit 36affe3cd8
1 changed files with 1 additions and 1 deletions
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2
EKF/ekf.cpp
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@ -265,7 +265,7 @@ bool Ekf::initialiseFilter(void)
if (_delVel_sum.norm() > 0.001f) {
_delVel_sum.normalize();
pitch = asinf(_delVel_sum(0));
roll = -asinf(_delVel_sum(1) / cosf(pitch));
roll = atan2f(-_delVel_sum(1), -_delVel_sum(2));
} else {
return false;