From 93c02fb25083357c76734f406113c2aad24f4a6c Mon Sep 17 00:00:00 2001 From: Florent Duchon Date: Tue, 18 Dec 2012 22:59:28 +0100 Subject: digital/beacon: add initial angle filtering for rebase --- digital/beacon/src/laser.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/digital/beacon/src/laser.c b/digital/beacon/src/laser.c index 09f9368e..38183b8f 100644 --- a/digital/beacon/src/laser.c +++ b/digital/beacon/src/laser.c @@ -131,7 +131,7 @@ ISR(TIMER3_COMPB_vect) if(calibration_get_state() != SCANNING_STATE_CALIBRATED) { - if(codewheel_get_state() == CODEWHEEL_INIT) + if((codewheel_get_state() == CODEWHEEL_INIT)&&((laser_get_angle_degree() < 15)||(laser_get_angle_degree() > 345))) { codewheel_set_rebase_offset(laser_get_angle_raw()); codewheel_set_state(CODEWHEEL_REQUEST_REBASE); -- cgit v1.2.3