Small fix for madgwick

mad-lab-fau · Feb 20, 2025 · 101a8c8 · 101a8c8
1 parent 2d3ab95
commit 101a8c8
Showing 1 changed file with 6 additions and 6 deletions.
diff --git a/gaitmap/trajectory_reconstruction/orientation_methods/_madgwick.py b/gaitmap/trajectory_reconstruction/orientation_methods/_madgwick.py
@@ -206,9 +206,9 @@ def _madgwick_update(gyro, acc, initial_orientation, sampling_rate_hz, beta):
 
         # Switch the component order back
         s = np.array([s1, s2, s3, s0])
-        mag_s = np.sqrt(np.sum(s**2))
-        if mag_s != 0.0:
-            s /= np.sqrt(np.sum(s**2))
+        norm_s = np.sqrt(np.sum(s**2))
+        if norm_s != 0.0:
+            s /= norm_s
 
         # Apply feedback step
         qdot -= beta * s
@@ -298,9 +298,9 @@ def _madgwick_update_mag(gyro, acc, mag, initial_orientation, sampling_rate_hz,
 
         # Switch the component order back
         s = np.array([s1, s2, s3, s0])
-        mag_s = np.sqrt(np.sum(s**2))
-        if mag_s != 0.0:
-            s /= np.sqrt(np.sum(s**2))
+        norm_s = np.sqrt(np.sum(s**2))
+        if norm_s != 0.0:
+            s /= norm_s
 
         # Apply feedback step
         qdot -= beta * s