From 99552ceedb3ec976af9001bb5118bfcf133589a8 Mon Sep 17 00:00:00 2001 From: Radzhab Bisultanov Date: Tue, 31 Mar 2026 17:02:53 +0300 Subject: [PATCH] =?UTF-8?q?=D0=A3=D0=B1=D1=80=D0=B0=D0=BD=D0=BE=20=D0=B2?= =?UTF-8?q?=D0=BB=D0=B8=D1=8F=D0=BD=D0=B8=D0=B5=20=D0=B3=D1=80=D0=B0=D0=B2?= =?UTF-8?q?=D0=B8=D1=82=D0=B0=D1=86=D0=B8=D0=B8=20=D0=BD=D0=B0=20=D0=BF?= =?UTF-8?q?=D0=BE=D0=BA=D0=B0=D0=B7=D0=B0=D0=BD=D0=B8=D1=8F=20=D0=B0=D0=BA?= =?UTF-8?q?=D1=81=D0=B5=D0=BB=D0=B5=D1=80=D0=BE=D0=BC=D0=B5=D1=82=D1=80?= =?UTF-8?q?=D0=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Source/BSP/Src/imu_processing.c | 2 +- Source/INS/IRS.c | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/Source/BSP/Src/imu_processing.c b/Source/BSP/Src/imu_processing.c index 876673c..4d9e37f 100644 --- a/Source/BSP/Src/imu_processing.c +++ b/Source/BSP/Src/imu_processing.c @@ -37,7 +37,7 @@ void imu_read_scaled(imu_scaled_t* out) out->ax = raw.ax / ACCEL_SENS_SCALE_FACTOR - accel_bias_x; out->ay = raw.ay / ACCEL_SENS_SCALE_FACTOR - accel_bias_y; - out->az = raw.az / ACCEL_SENS_SCALE_FACTOR - accel_bias_z; + out->az = raw.az / ACCEL_SENS_SCALE_FACTOR - accel_bias_z + 1; out->ax = biquad_apply(&accel_x_lpf, out->ax); out->ay = biquad_apply(&accel_y_lpf, out->ay); diff --git a/Source/INS/IRS.c b/Source/INS/IRS.c index 5a105b1..c6a5fd7 100644 --- a/Source/INS/IRS.c +++ b/Source/INS/IRS.c @@ -31,7 +31,7 @@ void IRS_update(IRS* irs, float dt) // accel update - Vector3 accel = {irs->accel.x, irs->accel.y, -irs->accel.z}; + Vector3 accel = {irs->accel.x, irs->accel.y, irs->accel.z}; restoreQuat(irs, &accel); // /accel update