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early-access version 1279

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pineappleEA
2021-01-02 22:47:26 +01:00
parent 84d5e05316
commit f7b2c59575
35 changed files with 399 additions and 112 deletions
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src/input_common/motion_input.cpp
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@@ -129,7 +129,7 @@ void MotionInput::UpdateOrientation(u64 elapsed_time) {
rad_gyro += ki * integral_error;
rad_gyro += kd * derivative_error;
} else {
// Give more weight to acelerometer values to compensate for the lack of gyro
// Give more weight to accelerometer values to compensate for the lack of gyro
rad_gyro += 35.0f * kp * real_error;
rad_gyro += 10.0f * ki * integral_error;
rad_gyro += 10.0f * kd * derivative_error;