Oskar Weigl / Mbed 2 deprecated ICRSEurobot13

This is some awesome robot code

Dependencies:   mbed-rtos mbed QEI

Fork of ICRSEurobot13 by Thomas Branch

Diff: Processes/Kalman/Kalman.cpp

Revision:
27:664e81033846
Parent:
26:7cb3a21d9a2e
Child:
29:00e1493b44f0
--- a/Processes/Kalman/Kalman.cpp	Wed Apr 10 03:46:23 2013 +0000
+++ b/Processes/Kalman/Kalman.cpp	Wed Apr 10 03:48:42 2013 +0000
@@ -312,7 +312,7 @@
 
                     float dhdx = rbx * r_expecdist;
                     float dhdy = rby * r_expecdist;
-                    float dhdt = (fp_ct*rby - fp_st*rbx) * r_expecdist;
+                    float dhdt = fp_ct*dhdy - fp_st*dhdx;
 
                     H = dhdx, dhdy, dhdt;