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ACM: adjust yaw drift correction constants

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this should give the compass a bit more authority
This commit is contained in:
Andrew Tridgell 2012-03-03 13:27:29 +11:00
parent 8e162ec35b
commit 9393b21a8d
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/system.pde
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@ -311,8 +311,8 @@ static void init_ardupilot()
#if HIL_MODE != HIL_MODE_ATTITUDE #if HIL_MODE != HIL_MODE_ATTITUDE
dcm.kp_roll_pitch(0.130000); dcm.kp_roll_pitch(0.130000);
dcm.ki_roll_pitch(0.00001278), // 50 hz I term dcm.ki_roll_pitch(0.00001278), // 50 hz I term
dcm.kp_yaw(0.08); dcm.kp_yaw(0.12);
dcm.ki_yaw(0.00004); dcm.ki_yaw(0.00002);
dcm._clamp = 5; dcm._clamp = 5;
#endif #endif