Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-03-11 17:13:56 -03:00
Code Issues Packages Projects Releases Wiki Activity

InertialNav: reduce Z-axis time constant to 5

Browse Source
This commit is contained in:
Randy Mackay 2013-04-01 11:51:12 +09:00
parent a9eb626cb8
commit 6816c45c39
1 changed files with 1 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AP_InertialNav/AP_InertialNav.h
View File

@ -10,9 +10,7 @@
#define AP_INTERTIALNAV_GRAVITY 9.80665f
#define AP_INTERTIALNAV_TC_XY 3.0f // default time constant for complementary filter's X & Y axis
#define AP_INTERTIALNAV_TC_Z 7.0f // default time constant for complementary filter's Z axis
#define AP_INTERTIALNAV_ACCEL_CORR_MAX 100.0 // max allowed accelerometer offset correction
#define AP_INTERTIALNAV_TC_Z 5.0f // default time constant for complementary filter's Z axis
// #defines to control how often historical accel based positions are saved
// so they can later be compared to laggy gps readings