2014 Eurobot fork
Dependencies: mbed-rtos mbed QEI
Diff: Processes/Kalman/Kalman.cpp
- Revision:
- 27:664e81033846
- Parent:
- 26:7cb3a21d9a2e
- Child:
- 29:00e1493b44f0
diff -r 7cb3a21d9a2e -r 664e81033846 Processes/Kalman/Kalman.cpp --- 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;