Diff: Processes/Kalman/Kalman.cpp

Revision:

23:6e3218cf75f8

Parent:

22:167dacfe0b14

Child:

27:7cb3a21d9a2e

--- a/Processes/Kalman/Kalman.cpp	Tue Apr 09 19:24:31 2013 +0000
+++ b/Processes/Kalman/Kalman.cpp	Tue Apr 09 20:41:22 2013 +0000
@@ -28,7 +28,7 @@
 Mutex statelock;
 
 float RawReadings[maxmeasure+1];
-float IRpahseOffset;
+float IRphaseOffset;
 
 bool Kalman_inited = 0;
 
@@ -89,10 +89,10 @@
         fromb0offset += constrainAngle(IR_Offsets[i] - IR_Offsets[0]);
     }
 
-    IRpahseOffset = constrainAngle(IR_Offsets[0] + fromb0offset/3);
+    IRphaseOffset = constrainAngle(IR_Offsets[0] + fromb0offset/3);
 
     //debug
-    printf("Offsets IR: %0.4f\r\n",IRpahseOffset*180/PI);
+    printf("Offsets IR: %0.4f\r\n",IRphaseOffset*180/PI);
 
     statelock.lock();
     X(0,0) = x_coor;
@@ -224,7 +224,7 @@
     } else {
 
         if (type >= IR0 && type <= IR2)
-            RawReadings[type] = value - IRpahseOffset;
+            RawReadings[type] = value - IRphaseOffset;
         else
             RawReadings[type] = value;