aleks/flix
1
0
Fork 0
mirror of https://github.com/okalachev/flix.git synced 2025-08-17 17:16:10 +00:00
Code Issues Packages Projects Releases Wiki Activity

Remove LED horizontality signalization

Browse Source 
It's better to control the attitude estimation using QGC
This commit is contained in:
Oleg Kalachev
2024-11-03 17:41:13 +03:00
parent c5c889679b
commit 2fdad7bdb6
2 changed files with 0 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
flix/estimate.ino
View File

@@ -16,7 +16,6 @@ LowPassFilter<Vector> ratesFilter(RATES_LFP_ALPHA);
void estimate() {
applyGyro();
applyAcc();
signalizeHorizontality();
}
void applyGyro() {
@@ -43,8 +42,3 @@ void applyAcc() {
attitude *= Quaternion::fromAngularRates(correction);
attitude.normalize();
}
void signalizeHorizontality() {
float angle = Vector::angleBetweenVectors(attitude.rotate(Vector(0, 0, 1)), Vector(0, 0, 1));
setLED(angle < radians(15));
}