teamALI / Mbed 2 deprecated HB2018

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Dependencies:   mbed FreeRTOS

Diff: Imu.cpp

Revision:
71:b821c4c990b7
Parent:
70:a7b1e3eec51b
Child:
72:1c8d13de08c9
--- a/Imu.cpp	Mon Mar 11 08:58:28 2019 +0000
+++ b/Imu.cpp	Mon Mar 11 10:55:06 2019 +0000
@@ -41,11 +41,11 @@
     
     static float oldYaw=0;
     float dy = oldYaw - iYaw;//１週前との差
+    if(dy>=180){dy-=360;}
+    if(dy<=-180){dy+=360;}
     dy = limitYawRate(dy);
-    if(dy>=180){yawOfset+=360;}
-    if(dy<=-180){yawOfset-=360;}
     oldYaw -= dy;//次の週で使う過去データ更新
-    return oldYaw + yawOfset;
+    return oldYaw;
 }
 
 //----------------------------------------------------------------