diff options
| -rw-r--r-- | logic/pipeline.cpp | 6 |
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; |