From d7c88592a5450a65f5359e23d87122a04d019503 Mon Sep 17 00:00:00 2001
From: Justin Berger <j.david.berger@gmail.com>
Date: Tue, 10 Apr 2018 21:58:25 -0600
Subject: New impl of mahoney imu filter

---
 include/libsurvive/survive_imu.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'include/libsurvive')

diff --git a/include/libsurvive/survive_imu.h b/include/libsurvive/survive_imu.h
index 11635aa..508710a 100644
--- a/include/libsurvive/survive_imu.h
+++ b/include/libsurvive/survive_imu.h
@@ -27,7 +27,7 @@ typedef struct {
 
 	FLT P[7]; // estimate variance
 
-	float integralFBx, integralFBy, integralFBz; // integral error terms scaled by Ki
+	LinmathVec3d integralFB;
 
 } SurviveIMUTracker;
 
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