Dont use mag suffix for magnitude

6 years ago · ea352a6631
1 changed files with 3 additions and 3 deletions
--- a/EKF/ekf_helper.cpp
+++ b/EKF/ekf_helper.cpp
@ -1606,10 +1606,10 @@ void Ekf::calcExtVisRotMat()
 		// apply an input limiter to protect from spikes
 		Vector3f _input_delta_vec = rot_vec - _ev_rot_vec_filt;
-		float input_delta_mag = _input_delta_vec.norm();
+		float input_delta_len = _input_delta_vec.norm();
-		if (input_delta_mag > 0.1f) {
+		if (input_delta_len > 0.1f) {
-			rot_vec = _ev_rot_vec_filt + _input_delta_vec * (0.1f / input_delta_mag);
+			rot_vec = _ev_rot_vec_filt + _input_delta_vec * (0.1f / input_delta_len);
 		}
 		// Apply a first order IIR low pass filter