Ian Molesworth
/
IMUfilter
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Revision 2:202906c5fadd, committed 2011-02-12
- Comitter:
- nimbusgb
- Date:
- Sat Feb 12 15:29:40 2011 +0000
- Parent:
- 1:4b0e8441f099
- Commit message:
Changed in this revision
| IMUfilter.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/IMUfilter.cpp Mon Feb 07 22:02:32 2011 +0000
+++ b/IMUfilter.cpp Sat Feb 12 15:29:40 2011 +0000
@@ -146,7 +146,7 @@
SEq_2 += (SEqDot_omega_2 - (beta * nablaf_2)) * deltat;
SEq_3 += (SEqDot_omega_3 - (beta * nablaf_3)) * deltat;
SEq_4 += (SEqDot_omega_4 - (beta * nablaf_4)) * deltat;
-
+
//Normalise quaternion
norm = sqrt(SEq_1 * SEq_1 + SEq_2 * SEq_2 + SEq_3 * SEq_3 + SEq_4 * SEq_4);
SEq_1 /= norm;