Diff: hil.cpp

Revision:

84:ff48e01ea76b

Parent:

83:e69ab831031c

Child:

90:96c2b0ed4b96

--- a/hil.cpp	Wed Sep 22 09:30:45 2021 +0000
+++ b/hil.cpp	Wed Sep 29 04:50:51 2021 +0000
@@ -27,13 +27,13 @@
     gyro.y = float(vp.gyroData[1]) / GYRO_SSF * 0.0174533f + sigma_gyro*randn();
     gyro.z = float(vp.gyroData[2]) / GYRO_SSF * 0.0174533f + sigma_gyro*randn();
     gyro = gyroMedian.Process(gyro);
-    //mag.x = -float(vp.magData[0])/1000.0f + sigma_mag*randn();
-    //mag.y = -float(vp.magData[1])/1000.0f + sigma_mag*randn();
-    //mag.z = -float(vp.magData[2])/1000.0f + sigma_mag*randn();
-    //mag = magMedian.Process(mag);
-    //vi.x =  float(vp.viData[0])/1000.0f + sigma_vi*randn();
-    //vi.y =  float(vp.viData[1])/1000.0f + sigma_vi*randn();
-    //vi.z =  float(vp.viData[2])/1000.0f + sigma_vi*randn();
+    mag.x = -float(vp.magData[0])/1000.0f + sigma_mag*randn();
+    mag.y = -float(vp.magData[1])/1000.0f + sigma_mag*randn();
+    mag.z = -float(vp.magData[2])/1000.0f + sigma_mag*randn();
+    mag = magMedian.Process(mag);
+    vi.x =  float(vp.viData[0])/1000.0f + sigma_vi*randn();
+    vi.y =  float(vp.viData[1])/1000.0f + sigma_vi*randn();
+    vi.z =  float(vp.viData[2])/1000.0f + sigma_vi*randn();
     
     if(acc.Norm()<0.01f){
         acc.x = 0.0f;