Cooper Liu / Mbed 2 deprecated ICRSEurobot13

Colour sensors calibrated

Dependencies:   mbed-rtos mbed Servo QEI

Fork of ICRSEurobot13 by Thomas Branch

Files at this revision

API Documentation at this revision

Revision 28:664e81033846, committed 2013-04-10

Comitter:
madcowswe
Date:
Wed Apr 10 03:48:42 2013 +0000
Parent:
27:7cb3a21d9a2e
Child:
29:4e20b44251c6
Commit message:
minor opti in update loop

Changed in this revision

Processes/Kalman/Kalman.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/Processes/Kalman/Kalman.cpp	Wed Apr 10 03:46:23 2013 +0000
+++ b/Processes/Kalman/Kalman.cpp	Wed Apr 10 03:48:42 2013 +0000
@@ -312,7 +312,7 @@
 
                     float dhdx = rbx * r_expecdist;
                     float dhdy = rby * r_expecdist;
-                    float dhdt = (fp_ct*rby - fp_st*rbx) * r_expecdist;
+                    float dhdt = fp_ct*dhdy - fp_st*dhdx;
 
                     H = dhdx, dhdy, dhdt;