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AP_AHRS: removed limit on normalisation of accel reference vectors

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this could lead to a bias in the accel drift correction
This commit is contained in:
Andrew Tridgell 2013-11-04 13:59:38 +11:00 committed by Randy Mackay
parent f9c72f9dbf
commit a69ecfa06b
1 changed files with 5 additions and 7 deletions
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12
libraries/AP_AHRS/AP_AHRS_DCM.cpp
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@ -561,14 +561,12 @@ AP_AHRS_DCM::drift_correction(float deltat)
// calculate the error term in earth frame. // calculate the error term in earth frame.
Vector3f GA_b = _ra_sum / (_ra_deltat * GRAVITY_MSS); Vector3f GA_b = _ra_sum / (_ra_deltat * GRAVITY_MSS);
float length = GA_b.length(); GA_b.normalize();
if (length > 1.0f) { if (GA_b.is_inf()) {
GA_b /= length; // wait for some non-zero acceleration information
if (GA_b.is_inf()) { return;
// wait for some non-zero acceleration information
return;
}
} }
Vector3f error = GA_b % GA_e; Vector3f error = GA_b % GA_e;
#define YAW_INDEPENDENT_DRIFT_CORRECTION 0 #define YAW_INDEPENDENT_DRIFT_CORRECTION 0