From 870b5e5f75b09e0719da24c7fef29656c3920c51 Mon Sep 17 00:00:00 2001
From: rmackay9 <rmackay9@yahoo.com>
Date: Mon, 16 Apr 2012 23:47:57 +0900
Subject: [PATCH] ArduCopter - CH6 Tuning - added AHRS_YAW_KP parameter as 30. 
 Now you can easily set the amount that the mag is used to correct the gyro
 based yaw estimate in the DCM

---
 ArduCopter/ArduCopter.pde | 4 ++++
 ArduCopter/defines.h      | 2 ++
 2 files changed, 6 insertions(+)

diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index e477fdedef..e29e588fa4 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -2166,6 +2166,10 @@ static void tuning(){
 			g.pid_optflow_roll.kD(tuning_value);
 			g.pid_optflow_pitch.kD(tuning_value);
 			break;
+
+		case CH6_AHRS_YAW_KP:
+			ahrs._kp_yaw.set(tuning_value);
+			break;
 	}
 }
 
diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h
index 12a722bc97..693f429870 100644
--- a/ArduCopter/defines.h
+++ b/ArduCopter/defines.h
@@ -184,6 +184,8 @@
 #define CH6_LOITER_RATE_KI 28
 #define CH6_LOITER_RATE_KD 23
 
+#define CH6_AHRS_YAW_KP 30
+
 
 // nav byte mask
 // -------------