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DCM: adjust yaw kp constant down to 0.4

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this makes the time constant for compass errors closely match the
timing of the older releases - about 10 seconds for a 1 radian change
in heading
This commit is contained in:
Andrew Tridgell 2012-03-12 17:49:15 +11:00
parent 7daaadf776
commit 13dac4a93a
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_DCM/AP_DCM.h
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@ -26,7 +26,7 @@ public:
// Constructors
AP_DCM(IMU *imu, GPS *&gps) :
_kp_roll_pitch(0.13),
_kp_yaw(0.8),
_kp_yaw(0.4),
_gps(gps),
_imu(imu),
_dcm_matrix(1, 0, 0,