Alvee Ahmed / virgo3_imuHandler

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Fork of virgo3_imuHandler_Orion_PCB by Van Nguyen

Diff: imuHandler.cpp

Revision:
5:42b4f2fb593f
Parent:
4:599d5ac25b73
Child:
6:70818c388698
--- a/imuHandler.cpp	Tue May 10 08:23:18 2016 +0000
+++ b/imuHandler.cpp	Mon May 16 07:40:52 2016 +0000
@@ -366,7 +366,7 @@
     posePRY[1] = imu_BNO055.euler.roll - imu_initialAngles[1] - PoseCorrection[1];
     //posePRY[2] = -1.0*(imu_BNO055.euler.yaw - imu_initialAngles[0]- DRIFT_CORRECTION(imuTime_s[1])) - PoseCorrection[2];
     //posePRY[2] = -1.0*(imu_BNO055.euler.yaw - imu_initialAngles[0]) - PoseCorrection[2];
-    posePRY[2] = (2*RAD_TO_DEG(M_PI) - imu_BNO055.euler.yaw) - imu_initialAngles[2];
+    posePRY[2] = (2*RAD_TO_DEG(M_PI) - imu_BNO055.euler.yaw) - imu_initialAngles[2] - PoseCorrection[2];
 
     //convert angles to 0 to 2pi range