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Merge remote-tracking branch 'upstream/master'

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mcsauder
2016-02-25 22:51:58 -07:00
parent 5fec0df70d cd5857e900
commit 5fb48a2e7b
15 changed files with 237 additions and 163 deletions
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EKF/ekf.cpp
+1 -1
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@@ -272,7 +272,7 @@ 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;