diff options
Diffstat (limited to 'logic/tracker.cpp')
| -rw-r--r-- | logic/tracker.cpp | 16 |
1 files changed, 5 insertions, 11 deletions
diff --git a/logic/tracker.cpp b/logic/tracker.cpp index a5892dd0..5733166a 100644 --- a/logic/tracker.cpp +++ b/logic/tracker.cpp @@ -300,21 +300,15 @@ void Tracker::logic() if (s.tcomp_p && !get(f_tcomp_disabled)) { - const double tcomp_c[] = - { - double(!s.tcomp_disable_src_yaw), - double(!s.tcomp_disable_src_pitch), - double(!s.tcomp_disable_src_roll), - }; euler_t value_(value(TX), value(TY), value(TZ)); t_compensate(euler_to_rmat( - euler_t(value(Yaw) * d2r * tcomp_c[0], - value(Pitch) * d2r * tcomp_c[1], - value(Roll) * d2r * tcomp_c[2])), + euler_t(value(Yaw) * d2r, + value(Pitch) * d2r, + value(Roll) * d2r)), value_, value_, - s.tcomp_disable_tx, - s.tcomp_disable_ty, + false, + false, s.tcomp_disable_tz); if (is_nan(value_)) nanp = true; |