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