Minor aesthetic fix for comments in Madgwick.

Mayitzin · Jan 31, 2025 · 29719a3 · 29719a3
1 parent 2738c92
commit 29719a3
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/ahrs/filters/madgwick.py b/ahrs/filters/madgwick.py
@@ -712,7 +712,7 @@ def updateMARG(self, q: np.ndarray, gyr: np.ndarray, acc: np.ndarray, mag: np.nd
             m = mag/np.linalg.norm(mag)
             # Rotate normalized magnetometer measurements
             q_m = Quaternion([0, *m])
-            h = q.product(q_m.product(q.conj))               # (eq. 45)
+            h = q.product(q_m.product(q.conj))                      # (eq. 45)
             bx = np.linalg.norm([h[1], h[2]])                       # (eq. 46)
             bz = h[3]
             qw, qx, qy, qz = q/np.linalg.norm(q)
@@ -734,6 +734,6 @@ def updateMARG(self, q: np.ndarray, gyr: np.ndarray, acc: np.ndarray, mag: np.nd
                 gradient = J.T@f                                        # (eq. 34)
                 gradient /= np.linalg.norm(gradient)
                 qDot -= self.gain*gradient                              # (eq. 33)
-        q_new = q + qDot*dt                                         # (eq. 13)
+        q_new = q + qDot*dt                                             # (eq. 13)
         q_new /= np.linalg.norm(q_new)
         return q_new