From b01c752612a045635428104d174da571978e7ec0 Mon Sep 17 00:00:00 2001 From: Olivier Matz Date: Wed, 4 Mar 2015 21:33:26 +0100 Subject: [PATCH] imuboard: force to ignore magnetometer --- imuboard/MadgwickAHRS.c | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) 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; } -- 2.39.5