Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

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
This commit is contained in:
Andrew Tridgell 2012-11-19 22:49:36 +11:00
parent 810da878e7
commit 5a214acca3
1 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/AP_AHRS/AP_AHRS.cpp
View File

@ -29,15 +29,15 @@ const AP_Param::GroupInfo AP_AHRS::var_info[] PROGMEM = {
// @Param: YAW_P // @Param: YAW_P
// @DisplayName: Yaw P // @DisplayName: Yaw P
// @Description: This controls the weight the compass has on the overall heading // @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.
// @Range: 0 .4 // @Range: 0.1 0.4
// @Increment: .01 // @Increment: .01
AP_GROUPINFO("YAW_P", 4, AP_AHRS, _kp_yaw, 0.4), AP_GROUPINFO("YAW_P", 4, AP_AHRS, _kp_yaw, 0.4),
// @Param: RP_P // @Param: RP_P
// @DisplayName: AHRS RP_P // @DisplayName: AHRS RP_P
// @Description: This controls how fast the accelerometers correct the attitude // @Description: This controls how fast the accelerometers correct the attitude
// @Range: 0 .4 // @Range: 0.1 0.4
// @Increment: .01 // @Increment: .01
AP_GROUPINFO("RP_P", 5, AP_AHRS, _kp, 0.4), AP_GROUPINFO("RP_P", 5, AP_AHRS, _kp, 0.4),
@ -112,4 +112,4 @@ void AP_AHRS::add_trim(float roll_in_radians, float pitch_in_radians)
// debug -- remove me! // debug -- remove me!
Serial.printf_P(PSTR("add_trim after R:%4.2f P:%4.2f\n"),ToDeg(trim.x),ToDeg(trim.y)); Serial.printf_P(PSTR("add_trim after R:%4.2f P:%4.2f\n"),ToDeg(trim.x),ToDeg(trim.y));
} }