diff options
| -rw-r--r-- | logic/pipeline.cpp | 7 |
1 files changed, 3 insertions, 4 deletions
diff --git a/logic/pipeline.cpp b/logic/pipeline.cpp index 7d737092..52dbac88 100644 --- a/logic/pipeline.cpp +++ b/logic/pipeline.cpp @@ -75,11 +75,10 @@ Pose reltrans::apply_pipeline(reltrans_state state, const Pose& value, const Mat bool tcomp_in_zone_ = progn( if (state == reltrans_non_center) { - const bool yaw_in_zone = std::fabs(value(Yaw)) < 20; - const bool pitch_in_zone = std::fabs(value(Pitch)) < 20; - const bool roll_in_zone = std::fabs(value(Roll)) < 7; + 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 && roll_in_zone); + return !(yaw_in_zone && pitch_in_zone); } else return true; |