Skip to content

Fix NaN when sensor and reference are precisely opposite #350

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
xioTechnologies merged 1 commit into from
Aug 20, 2026
Merged

Fix NaN when sensor and reference are precisely opposite #350

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
13 changes: 10 additions & 3 deletions Fusion/FusionAhrs.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -394,10 +394,17 @@ static FUSION_INLINE FusionVector HalfWest(const FusionAhrs *const ahrs) {
* @return Residual between the sensor and reference vector.
*/
static FUSION_INLINE FusionVector Residual(const FusionVector sensor, const FusionVector reference) {
if (FusionVectorDot(sensor, reference) < 0.0f) {
return FusionVectorNormalise(FusionVectorCross(sensor, reference)); // if error is >90 degrees
if (FusionVectorDot(sensor, reference) > 0.0f) {
return FusionVectorCross(sensor, reference); // if error is <90 degrees
}
return FusionVectorCross(sensor, reference);

const FusionVector cross = FusionVectorCross(sensor, reference);

if (FusionVectorIsZero(cross)) {
return FUSION_VECTOR_ZERO;
}

return FusionVectorNormalise(cross);
}

/**
Expand Down