Merge pull request #102 from petrinm/fix-iterating-in-flae

Fix loop condition in FLAE-newton implementation

ahrs/filters/flae.py

@@ -512,9 +512,10 @@ def estimate(self, acc: np.ndarray, mag: np.ndarray, method: str = 'symbolic') -
  t2 = -8*np.linalg.det(H.T)
  t3 = np.linalg.det(W)
  if method.lower() == 'newton':
- lam = lam_old = 1.0
+ lam = 1.0
+ lam_old = 0.0
  i = 0
- while abs(lam_old-lam) > 1e-8 or i <= 30:
+ while abs(lam_old-lam) > 1e-8 and i < 6:
  lam_old = lam
  f = lam**4 + t1*lam**2 + t2*lam + t3 # (eq. 48)
  fp = 4*lam**3 + 2*t1*lam + t2 # (eq. 50)