From af292bc8dcf31d8df6d4500d63752f9e651cc5ac Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sat, 10 Mar 2018 17:07:43 +0100 Subject: logic/pipeline: loosen "reltrans when not aiming" limit --- logic/pipeline.cpp | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) (limited to 'logic') 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; -- cgit v1.2.3