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ArduCopter: set fast gains while auto trim is being executed

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This commit is contained in:
rmackay9 2012-09-18 09:03:29 +09:00
parent 67e02a815f
commit 3b5b2eba6e
1 changed files with 11 additions and 0 deletions
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11
ArduCopter/control_modes.pde
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@ -161,6 +161,12 @@ static void auto_trim()
//g.rc_2.dead_zone = 60; //g.rc_2.dead_zone = 60;
auto_level_counter--; auto_level_counter--;
if( motors.armed() ) {
// set high AHRS gains to force accelerometers to impact attitude estimate
ahrs.set_fast_gains(true);
}
trim_accel(); trim_accel();
led_mode = AUTO_TRIM_LEDS; led_mode = AUTO_TRIM_LEDS;
do_simple = false; do_simple = false;
@ -174,6 +180,11 @@ static void auto_trim()
reset_control_switch(); reset_control_switch();
// go back to normal AHRS gains
if( motors.armed() ) {
ahrs.set_fast_gains(false);
}
//Serial.println("Done"); //Serial.println("Done");
auto_level_counter = 0; auto_level_counter = 0;
} }