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authorStanislaw Halik <sthalik@misaki.pl>2018-03-12 09:34:35 +0100
committerStanislaw Halik <sthalik@misaki.pl>2018-03-12 09:35:28 +0100
commit53ce853c6b8ad2228a2849d7d7ade73487aa2ccb (patch)
tree9a1c62df9aed23c9a4f1edb7ff1f3f175de228a2
parent75557908841f0c5bf784dce6821d254c1583a002 (diff)
logic/pipeline: fix logic error
Change `reltrans_not_aiming' threshold values
-rw-r--r--logic/pipeline.cpp6
1 files changed, 3 insertions, 3 deletions
diff --git a/logic/pipeline.cpp b/logic/pipeline.cpp
index 4ebc265e..bc623d9c 100644
--- a/logic/pipeline.cpp
+++ b/logic/pipeline.cpp
@@ -83,8 +83,8 @@ Pose reltrans::apply_pipeline(reltrans_state state, const Pose& value,
bool tcomp_in_zone_ = progn(
if (state == reltrans_non_center)
{
- const bool look_up = value(Pitch) < 15;
- return look_up ? std::fabs(value(Yaw)) > 85 : std::fabs(value(Yaw)) < 50;
+ const bool looking_down = value(Pitch) < 15;
+ return looking_down ? std::fabs(value(Yaw)) > 35 : std::fabs(value(Yaw)) > 65;
}
else
return true;
@@ -145,7 +145,7 @@ Pose reltrans::apply_pipeline(reltrans_state state, const Pose& value,
const euler_t tmp = rel - interp_pos;
rel = interp_pos;
- const double delta = std::fabs(tmp(0)) + std::fabs(tmp(0)) + std::fabs(tmp(0));
+ const double delta = std::fabs(tmp(0)) + std::fabs(tmp(1)) + std::fabs(tmp(2));
//qDebug() << "reltrans-interp: delta" << delta;