Diff: main.cpp

Revision:

1:4062af6224fa

Parent:

0:dea3c70f4911

--- a/main.cpp	Mon Jun 21 07:35:27 2021 +0000
+++ b/main.cpp	Sat Jul 03 00:15:03 2021 +0000
@@ -69,8 +69,8 @@
         gyro = bno.euler.yaw * (M_PI / 180.0);
         theta = abs(fgyro - gyro);  
         J.set(  12,
-                -sin(theta + M_PI/4.0), -sin(theta + 3.0*M_PI/2.0), -sin(theta + 5.0*M_PI/4.0), -sin(theta + 7.0*M_PI/4.0),
-                 cos(theta + M_PI/4.0),  cos(theta + 3.0*M_PI/2.0),  cos(theta + 5.0*M_PI/4.0),  cos(theta + 7.0*M_PI/4.0),
+                -sin(theta), -sin(theta + M_PI/2.0), -sin(theta + M_PI), -sin(theta + 3.0*M_PI/2.0),
+                 cos(theta),  cos(theta + M_PI/2.0),  cos(theta + M_PI),  cos(theta + 3.0*M_PI/2.0),
                 1.0/(2.0*R),            1.0/(2.0*R),        1.0/(2.0*R),                1.0/(2.0*R)
         );
         //J.show();