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Quaternion: tweak the quaternion gains a bit

This commit is contained in:
Andrew Tridgell 2012-03-03 22:19:30 +11:00
parent e33bb217bc
commit 7d9c4094a2
1 changed files with 4 additions and 4 deletions
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8
libraries/AP_Quaternion/AP_Quaternion.h
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@ -91,11 +91,11 @@ private:
// true if we are doing centripetal acceleration correction
bool _centripetal;
// maximum gyroscope measurement error in rad/s (set to 2 degrees/second)
static const float gyroMeasError = 2.0 * (M_PI/180.0);
// maximum gyroscope measurement error in rad/s (set to 5 degrees/second)
static const float gyroMeasError = 5.0 * (M_PI/180.0);
// maximum gyroscope drift rate in radians/s/s (set to 0.03 degrees/s/s)
static const float gyroMeasDrift = 0.03 * (PI/180.0);
// maximum gyroscope drift rate in radians/s/s (set to 0.02 degrees/s/s)
static const float gyroMeasDrift = 0.02 * (PI/180.0);
float beta;
float zeta;