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nrealAirLinuxDriver
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Add comment for magnetometer usage 

Signed-off-by: TheJackiMonster <thejackimonster@gmail.com>
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TheJackiMonster 2023-09-08 00:43:15 +02:00
parent 0717ad9cd5
commit 866cace9a6
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1 changed files with 2 additions and 0 deletions
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interface_lib/src/device3.c
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@ -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); //printf("M: %.2f %.2f %.2f\n", magnetometer.axis.x, magnetometer.axis.y, magnetometer.axis.z);
if (device->ahrs) { 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); FusionAhrsUpdateNoMagnetometer((FusionAhrs*) device->ahrs, gyroscope, accelerometer, deltaTime);
const device3_quat_type orientation = device3_get_orientation(device->ahrs); const device3_quat_type orientation = device3_get_orientation(device->ahrs);