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Coning term is always zero #15

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WillRam opened this issue May 15, 2015 · 0 comments

WillRam commented May 15, 2015

In the code:

// Save current measurements
    Vector3f  prevDelAng = correctedDelAng;

// Apply corrections for earths rotation rate and coning errors
// * and + operators have been overloaded
    correctedDelAng   = correctedDelAng - Tnb*earthRateNED*dtIMU + 8.333333333333333e-2f*(prevDelAng % correctedDelAng);

the cross product prevDelAng % correctedDelAng will always be zero as they have the same value

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