From: Olivier Matz <zer0@droids-corp.org>
Date: Wed, 4 Mar 2015 20:33:26 +0000 (+0100)
Subject: imuboard: force to ignore magnetometer
X-Git-Url: http://git.droids-corp.org/?p=fpv.git;a=commitdiff_plain;h=b01c752612a045635428104d174da571978e7ec0

imuboard: force to ignore magnetometer
---

diff --git a/imuboard/MadgwickAHRS.c b/imuboard/MadgwickAHRS.c
index b9a7b91..7232376 100644
--- a/imuboard/MadgwickAHRS.c
+++ b/imuboard/MadgwickAHRS.c
@@ -58,7 +58,8 @@ void MadgwickAHRSupdate(const struct imu_info *imu, struct quaternion *quat)
 
 	/* Use IMU algorithm if magnetometer measurement invalid (avoids NaN in
 	 * magnetometer normalisation) */
-	if ((imu->mx == 0.0f) && (imu->my == 0.0f) && (imu->mz == 0.0f)) {
+	//if ((imu->mx == 0.0f) && (imu->my == 0.0f) && (imu->mz == 0.0f)) {
+	if (1) {
 		MadgwickAHRSupdateIMU(imu, quat);
 		return;
 	}