From 866cace9a6f7d2c49cd4f7a3a807c6369ef03c72 Mon Sep 17 00:00:00 2001 From: TheJackiMonster Date: Fri, 8 Sep 2023 00:43:15 +0200 Subject: [PATCH] Add comment for magnetometer usage Signed-off-by: TheJackiMonster --- interface_lib/src/device3.c | 2 ++ 1 file changed, 2 insertions(+) diff --git a/interface_lib/src/device3.c b/interface_lib/src/device3.c index 8c1dd02..9b80344 100644 --- a/interface_lib/src/device3.c +++ b/interface_lib/src/device3.c @@ -810,6 +810,8 @@ int device3_read(device3_type* device, int timeout) { //printf("M: %.2f %.2f %.2f\n", magnetometer.axis.x, magnetometer.axis.y, magnetometer.axis.z); if (device->ahrs) { + /* The magnetometer seems to make results of sensor fusion generally worse. So it is not used currently. */ + //FusionAhrsUpdate((FusionAhrs*) device->ahrs, gyroscope, accelerometer, magnetometer, deltaTime); FusionAhrsUpdateNoMagnetometer((FusionAhrs*) device->ahrs, gyroscope, accelerometer, deltaTime); const device3_quat_type orientation = device3_get_orientation(device->ahrs);