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Add back yaw decay the quaternion way.

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This commit is contained in:
Andrzej Kapolka 2013-06-06 14:34:28 -07:00
parent d87e165b06
commit 081f193db8
1 changed files with 6 additions and 0 deletions
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6
interface/src/SerialInterface.cpp
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@ -262,6 +262,12 @@ void SerialInterface::readData(float deltaTime) {
estimatedRotation = safeMix(estimatedRotation,
rotationBetween(estimatedRotation * _lastAcceleration, _gravity) * estimatedRotation,
1.0f / SENSOR_FUSION_SAMPLES);
// Without a compass heading, always decay estimated Yaw slightly
const float YAW_DECAY = 0.995;
glm::vec3 forward = estimatedRotation * glm::vec3(0.0f, 0.0f, -1.0f);
safeMix(glm::angleAxis(glm::degrees(atan2f(forward.x, -forward.z)), glm::vec3(0.0f, 1.0f, 0.0f)) *
estimatedRotation, estimatedRotation, YAW_DECAY);
}
}