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acs-safe-hotfix #608

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muellerr merged 3 commits from acs-safe-hotfix into develop 2023-04-17 10:15:53 +02:00
Conversation 0 Commits 3 Files Changed 3 +3 -2
1 changed files with 3 additions and 2 deletions
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mission/controller/acs/SensorProcessing.cpp
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@ -150,7 +150,8 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
} }
timeOfSavedMagFieldEst = timeOfMgmMeasurement; timeOfSavedMagFieldEst = timeOfMgmMeasurement;
if (mgmDataProcessed->mgmVecTotDerivative.isValid()) { if (VectorOperations<double>::norm(mgmVecTotDerivative, 3) != 0 and
mgmDataProcessed->mgmVecTotDerivative.isValid()) {
lowPassFilter(mgmVecTotDerivative, mgmDataProcessed->mgmVecTotDerivative.value, lowPassFilter(mgmVecTotDerivative, mgmDataProcessed->mgmVecTotDerivative.value,
mgmParameters->mgmDerivativeFilterWeight); mgmParameters->mgmDerivativeFilterWeight);
} }
@ -533,7 +534,7 @@ void SensorProcessing::processGyr(
} }
} }
if (gyrDataProcessed->gyrVecTot.isValid()) { if (VectorOperations<double>::norm(gyrVecTot, 3) != 0 and gyrDataProcessed->gyrVecTot.isValid()) {
lowPassFilter(gyrVecTot, gyrDataProcessed->gyrVecTot.value, gyrParameters->gyrFilterWeight); lowPassFilter(gyrVecTot, gyrDataProcessed->gyrVecTot.value, gyrParameters->gyrFilterWeight);
} }