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imuboard: force to ignore magnetometer
author
Olivier Matz
<zer0@droids-corp.org>
Wed, 4 Mar 2015 20:33:26 +0000
(21:33 +0100)
committer
Olivier Matz
<zer0@droids-corp.org>
Wed, 4 Mar 2015 20:33:26 +0000
(21:33 +0100)
imuboard/MadgwickAHRS.c
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diff --git
a/imuboard/MadgwickAHRS.c
b/imuboard/MadgwickAHRS.c
index
b9a7b91
..
7232376
100644
(file)
--- 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) */
/* 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;
}
MadgwickAHRSupdateIMU(imu, quat);
return;
}