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ignore roll

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Alexander van Saase 2021-04-07 11:35:20 +02:00
parent 585e7da4b5
commit c6fd5a7928
1 changed files with 1 additions and 1 deletions
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2
src/main/flight/imu.c
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@ -504,7 +504,7 @@ static float imuCalculateAccelerometerWeight(const float dT)
float accWeight_RateIgnore = 1.0f;
if (ARMING_FLAG(ARMED) && STATE(FIXED_WING_LEGACY) && imuConfig()->acc_ignore_rate) {
const float rotRateMagnitude = sqrtf(vectorNormSquared(&imuMeasuredRotationBF));
const float rotRateMagnitude = sqrtf(sq(imuMeasuredRotationBF.y) + sq(imuMeasuredRotationBF.z));
const float rotRateMagnitudeFiltered = pt1FilterApply4(&rotRateFilter, rotRateMagnitude, IMU_CENTRIFUGAL_LPF, dT);
if (imuConfig()->acc_ignore_slope) {