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raw | patch | inline | side by side (parent: 240eb19)
author | dave russo <d-russo@ti.com> | |
Tue, 13 Oct 2015 19:03:21 +0000 (12:03 -0700) | ||
committer | dave russo <d-russo@ti.com> | |
Tue, 13 Oct 2015 19:03:21 +0000 (12:03 -0700) |
src/Energia/libraries/ZumoCC3200/utility/DCM.cpp | patch | blob | history |
diff --git a/src/Energia/libraries/ZumoCC3200/utility/DCM.cpp b/src/Energia/libraries/ZumoCC3200/utility/DCM.cpp
index 90f1fbe3b0cb17748f5846535009acd38cce0890..52dea078ed0fad7b6ff0f2272bcc2dce8dbee301 100644 (file)
handle->pfMagneto[2] = fMagnetoZ;
}
-/*
- * ======== cancelDrift ========
- * Use orientation reference vectors to cancel out gyro drift with a PI
- * feedback controller. This method assumes that the device experiences
- * negligible acceleration. Adjustments can be made to allow this algorithm
- * to work with accelerating systems. Only called internally within the
- * DCM calculuation.
- */
-static void cancelDrift(DCM_Handle handle)
-{
- /* two correction vectors fed into the controller */
- float pfKError[3], pfIError[3];
-
- /* calcluate the Z-axis correction based on accelerometer reading */
- crossProduct(pfKError, handle->dcm[2], handle->pfAccel);
-
- /* calcluate the X-axis correction based on magnetometer reading */
- crossProduct(pfIError, handle->dcm[0], handle->pfMagneto);
-}
-
/*
* ======== DCM_start ========
* Starts the complementary filter DCM attitude estimation from an initial