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Complementary filter bug

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Stedd 2019-12-23 02:52:37 +01:00
parent 4129c92d15
commit 54d2701460
1 changed files with 1 additions and 1 deletions
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Main/IMU.ino
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@ -55,7 +55,7 @@ void readIMU() {
//Complementary filter //Complementary filter
dAngle = pitch_rate * dT_s; 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; pitch_prev = pitch;