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documentation, stripped out unused functionality.

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This commit is contained in:
Gabe Venberg 2023-10-30 13:22:42 -05:00
parent f859ea683e
commit a77b3845e0
3 changed files with 13 additions and 11 deletions
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4
independent_logic/src/tilt_compensation.rs
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@ -13,8 +13,7 @@ pub struct NedMeasurement {
pub z: f32,
}
//theta=0 at north, pi/-pi at south, pi/2 at east, and -pi/2 at west (desired)
//theta=0 at south, pi/-pi at north, pi/2 at east, and -pi/2 at west (current)
///theta=0 at north, pi/-pi at south, pi/2 at east, and -pi/2 at west
pub struct Heading(pub f32);
pub fn calc_attitude(measurement: &NedMeasurement) -> Attitude {
@ -22,7 +21,6 @@ pub fn calc_attitude(measurement: &NedMeasurement) -> Attitude {
let roll = atan2f(measurement.y, measurement.z);
let pitch = atanf(-measurement.x / (measurement.y * sinf(roll) + measurement.z * cosf(roll)));
Attitude { pitch, roll }
// Attitude { pitch: 0.0, roll: 0.0 }
}
pub fn calc_tilt_calibrated_measurement(