From 54d2701460ea62ce23fe29986f8107f2b23cd694 Mon Sep 17 00:00:00 2001
From: Stedd <tor.andre.paulsen@gmail.com>
Date: Mon, 23 Dec 2019 02:52:37 +0100
Subject: [PATCH] Complementary filter bug

---
 Main/IMU.ino | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Main/IMU.ino b/Main/IMU.ino
index a7da9f2..2a7d5a5 100644
--- a/Main/IMU.ino
+++ b/Main/IMU.ino
@@ -55,7 +55,7 @@ void readIMU() {
 
   //Complementary filter
   dAngle      = pitch_rate * dT_s;
-  pitch       = acc_pitch * (1 - alpha) + (dAngle + pitch_prev * alpha);
+  pitch       = acc_pitch * (1 - alpha) + ((dAngle + pitch_prev) * alpha);
   pitch_prev  = pitch;