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-rw-r--r--logic/pipeline.cpp6
1 files changed, 2 insertions, 4 deletions
diff --git a/logic/pipeline.cpp b/logic/pipeline.cpp
index 0d9c2021..5dfe3ccb 100644
--- a/logic/pipeline.cpp
+++ b/logic/pipeline.cpp
@@ -75,10 +75,8 @@ Pose reltrans::apply_pipeline(reltrans_state state, const Pose& value, const vec
bool tcomp_in_zone_ = progn(
if (state == reltrans_non_center)
{
- const bool yaw_in_zone = std::fabs(value(Yaw)) < 50;
- const bool pitch_in_zone = std::fabs(value(Pitch)) < 40;
-
- return !(yaw_in_zone && pitch_in_zone);
+ const bool look_up = value(Pitch) < 15;
+ return look_up ? std::fabs(value(Yaw)) > 85 : std::fabs(value(Yaw)) < 50;
}
else
return true;