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Исправлена ошибка в реализации функции Cross, из-за которой коррекция кватерниона проходила неправильно

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Раджаб Бисултанов
2026-04-01 13:01:39 +03:00
parent 99552ceedb
commit e11c94c357
3 changed files with 5 additions and 10 deletions
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Source/BSP/Src/imu_processing.c
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@@ -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 + 1;
out->az = raw.az / ACCEL_SENS_SCALE_FACTOR - accel_bias_z;
out->ax = biquad_apply(&accel_x_lpf, out->ax);
out->ay = biquad_apply(&accel_y_lpf, out->ay);