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Really ugly but safe hack to make 30 deg rotations work

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Lorenz Meier
2012-08-27 15:44:50 +02:00
parent 967c0869a9
commit 97d9e67e67
1 changed files with 12 additions and 0 deletions
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apps/px4/attitude_estimator_bm/attitude_bm.c
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@@ -221,6 +221,18 @@ void attitude_blackmagic(const float_vect3 *accel, const float_vect3 *mag, const
m_elem mask[9] = m_elem mask[9] =
{ 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f }; { 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f };
// XXX Hack - stop updating accel if upside down
if (accel->z > 0) {
mask[0] = 0.0f;
mask[1] = 0.0f;
mask[2] = 0.0f;
} else {
mask[0] = 1.0f;
mask[1] = 1.0f;
mask[2] = 1.0f;
}
measurement[0] = accel->x; measurement[0] = accel->x;
measurement[1] = accel->y; measurement[1] = accel->y;
measurement[2] = accel->z; measurement[2] = accel->z;