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Daniel Agar
2017-04-01 20:19:28 +02:00
committed by Lorenz Meier
parent 412f956636
commit 4b8bedef48
12 changed files with 53 additions and 60 deletions
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src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
+1 -1
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@@ -675,7 +675,7 @@ bool AttitudeEstimatorQ::update(float dt)
const float fifty_dps = 0.873f;
if (spinRate > fifty_dps) {
gainMult = fmin(spinRate / fifty_dps, 10.0f);
gainMult = math::min(spinRate / fifty_dps, 10.0f);
}
// Project magnetometer correction to body frame