mirror of https://github.com/ArduPilot/ardupilot
AHRS: changed the docs for AHRS_YAW_P and AHRS_RP_P
a user had set AHRS_YAW_P to zero. Make it clear that zero is not a good value. MichaelO will change MP to give a warning for a value below 0.1
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@ -29,15 +29,15 @@ const AP_Param::GroupInfo AP_AHRS::var_info[] PROGMEM = {
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// @Param: YAW_P
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// @DisplayName: Yaw P
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// @Description: This controls the weight the compass has on the overall heading
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// @Range: 0 .4
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// @Description: This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly.
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// @Range: 0.1 0.4
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// @Increment: .01
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AP_GROUPINFO("YAW_P", 4, AP_AHRS, _kp_yaw, 0.4),
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// @Param: RP_P
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// @DisplayName: AHRS RP_P
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// @Description: This controls how fast the accelerometers correct the attitude
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// @Range: 0 .4
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// @Range: 0.1 0.4
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// @Increment: .01
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AP_GROUPINFO("RP_P", 5, AP_AHRS, _kp, 0.4),
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@ -112,4 +112,4 @@ void AP_AHRS::add_trim(float roll_in_radians, float pitch_in_radians)
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// debug -- remove me!
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Serial.printf_P(PSTR("add_trim after R:%4.2f P:%4.2f\n"),ToDeg(trim.x),ToDeg(trim.y));
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}
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}
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