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Merge pull request #42 from Every-Flavor-Robotics/master

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Fix Gravity Vector Calculation (#35)
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Dan Halbert 2025-08-24 17:40:46 -04:00 committed by GitHub
commit b14657f111
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2 changed files with 2 additions and 2 deletions
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2
src/Adafruit_AHRS_Madgwick.cpp
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@ -300,6 +300,6 @@ void Adafruit_Madgwick::computeAngles() {
yaw = atan2f(q1 * q2 + q0 * q3, 0.5f - q2 * q2 - q3 * q3); yaw = atan2f(q1 * q2 + q0 * q3, 0.5f - q2 * q2 - q3 * q3);
grav[0] = 2.0f * (q1 * q3 - q0 * q2); grav[0] = 2.0f * (q1 * q3 - q0 * q2);
grav[1] = 2.0f * (q0 * q1 + q2 * q3); grav[1] = 2.0f * (q0 * q1 + q2 * q3);
grav[2] = 2.0f * (q1 * q0 - 0.5f + q3 * q3); grav[2] = 2.0f * (q0 * q0 - 0.5f + q3 * q3);
anglesComputed = 1; anglesComputed = 1;
} }

2
src/Adafruit_AHRS_Mahony.cpp
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@ -279,7 +279,7 @@ void Adafruit_Mahony::computeAngles() {
yaw = atan2f(q1 * q2 + q0 * q3, 0.5f - q2 * q2 - q3 * q3); yaw = atan2f(q1 * q2 + q0 * q3, 0.5f - q2 * q2 - q3 * q3);
grav[0] = 2.0f * (q1 * q3 - q0 * q2); grav[0] = 2.0f * (q1 * q3 - q0 * q2);
grav[1] = 2.0f * (q0 * q1 + q2 * q3); grav[1] = 2.0f * (q0 * q1 + q2 * q3);
grav[2] = 2.0f * (q1 * q0 - 0.5f + q3 * q3); grav[2] = 2.0f * (q0 * q0 - 0.5f + q3 * q3);
anglesComputed = 1; anglesComputed = 1;
} }