fix: change QuaternionEKF UpdateCount (uint64_t) to accel_lpf_inited (uint8_t)

UpdateCount was only used as a first-time-initialization flag for the accel low-pass filter, not as a real counter. Replaced with a simple uint8_t flag and moved the set to the first-update path.
2026-05-30 00:35:54 +08:00
parent ea493af11f
commit 075495791a
2 changed files with 4 additions and 4 deletions
@@ -30,7 +30,7 @@ typedef struct
    uint8_t ConvergeFlag;
    uint8_t StableFlag;
    uint64_t ErrorCount;
-    uint64_t UpdateCount;
+    uint8_t accel_lpf_inited;

    float q[4];        // 四元数估计值
    float GyroBias[3]; // 陀螺仪零偏估计值