Showing the changes to interface/src/SerialInterface.cpp (1 of 2 files). Show all
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| @@ -249,6 +249,8 @@ void SerialInterface::readData(float deltaTime) { · 248 unmodified lines | |||
| 249 | _angularAccelToLinearAccel * angularAcceleration; | 249 | _angularAccelToLinearAccel * angularAcceleration; |
| 250 | glm::vec3 error = _estimatedAcceleration - predictedAcceleration; | 250 | glm::vec3 error = _estimatedAcceleration - predictedAcceleration; |
| 251 | 251 | ||
| 252 | printLog("error %g\n", glm::length(error)); | ||
| 253 | |||
| 252 | // adjust according to error in each dimension, in proportion to input magnitudes | 254 | // adjust according to error in each dimension, in proportion to input magnitudes |
| 253 | for (int i = 0; i < 3; i++) { | 255 | for (int i = 0; i < 3; i++) { |
| 254 | if (fabsf(error[i]) < EPSILON) { | 256 | if (fabsf(error[i]) < EPSILON) { |