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ego: orientation: allow for a more generous definition of earth gravity

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Victoria Fischer
2025-12-24 09:42:57 +01:00
parent 21fba09a4b
commit 9059066206
1 changed files with 1 additions and 1 deletions
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src/ego/orientation.rs
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@@ -33,7 +33,7 @@ impl OrientationEstimator {
// Estimate down from stationary accel // Estimate down from stationary accel
let avg = self.accel_history.data().iter().sum::<Vector3<f32>>() let avg = self.accel_history.data().iter().sum::<Vector3<f32>>()
/ (self.accel_history.data().len() as f32); / (self.accel_history.data().len() as f32);
if avg.norm() >= 9.764 && avg.norm() <= 9.834 { if avg.norm() >= 9.1 && avg.norm() <= 9.9 {
self.down = Some(Unit::new_normalize(-avg)); self.down = Some(Unit::new_normalize(-avg));
self.sensor_bias = avg; self.sensor_bias = avg;
info!("Found down={:?} bias={:?}", self.down, self.sensor_bias); info!("Found down={:?} bias={:?}", self.down, self.sensor_bias);