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DCM: added a small amount of accel smoothing to update_DCM_fast()

This commit is contained in:
Andrew Tridgell 2012-03-01 23:37:18 +11:00
parent a0ce202d87
commit 6ba6e11e7b
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_DCM/AP_DCM.cpp
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@ -57,7 +57,7 @@ AP_DCM::update_DCM_fast(void)
_gyro_vector = _imu->get_gyro(); // Get current values for IMU sensors _gyro_vector = _imu->get_gyro(); // Get current values for IMU sensors
accel = _imu->get_accel(); accel = _imu->get_accel();
_accel_vector = (_accel_vector * 0.0) + (accel * 1.0); _accel_vector = (_accel_vector * 0.5) + (accel * 0.5);
delta_t = _imu->get_delta_time(); delta_t = _imu->get_delta_time();