Chun Feng Huang / ATTITUDE_ESTIMATION_WIPV

Attitude estimation using IMU (3-DoF ver.)

Fork of ATTITUDE_ESTIMATION by LDSC_Robotics_TAs

Diff: ATTITUDE_ESTIMATION.cpp

Revision:
12:058a9edb664e
Parent:
11:394a59f3b1f6
Child:
13:16bc19155f54
diff -r 394a59f3b1f6 -r 058a9edb664e ATTITUDE_ESTIMATION.cpp
--- a/ATTITUDE_ESTIMATION.cpp	Wed Jan 04 14:39:26 2017 +0000
+++ b/ATTITUDE_ESTIMATION.cpp	Thu Jan 05 11:14:20 2017 +0000
@@ -152,7 +152,7 @@
         yaw = 0.0; // phi, yaw
     }
 
-    /*
+
     // Calculate the rate of each Eular angle
     if (abs(roll) > 1.2217 ){ // 75 deg, singular case
         yawRate = 0.0; // 0.0, approximation
@@ -165,7 +165,7 @@
     }
     // rollRate = w3*cos(psi) - w1*sin(psi)
     rollRate = (omega[2]*cos(pitch) - omega[0]*sin(pitch));
-    */
+
 }
 // Setting parameters
 // Set L1, the diagonal matrix