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Yaw Inversion in quaternion_to_rpy

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borisbstyle 2015-09-22 11:15:49 +02:00
parent 08d1dab047
commit 8be859bb36
1 changed files with 3 additions and 6 deletions
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9
src/main/flight/imu.c
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@ -505,12 +505,9 @@ void quaternion_to_rpy(const q4_t *q, rpy_t *o) // (degrees) yaw->pitch->roll or
if ((y0 == 0) && (y1 == 0)) { o->y = 0.0f; } // atan(0,0)!
else { o->y = atan2_approx(y0, y1); }
}
#ifdef NAZE
o->y = -o->y; // yaw inversion hack for NAZE32
#endif
#ifdef SPARKY
o->y = -o->y; // yaw inversion hack for SPARKY
#endif
o->y = -o->y; // yaw inversion hack for all boards
}
void angle_vector(const q4_t *a, v3_t *o) // convert from quaternion to angle vector[rad]