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INS: check for good calibration for 10seconds

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Shortened gyro calibration commit also halved the total time we would
look for a good gyro calibration.  This restores the total time to 10
seconds.
This commit is contained in:
Randy Mackay 2014-01-17 12:45:56 +09:00
parent ada0dd5504
commit 965e5b2dfd
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -171,15 +171,15 @@ AP_InertialSensor::_init_gyro()
update();
}
// the strategy is to average 200 points over 1 second, then do it
// the strategy is to average 50 points over 0.5 seconds, then do it
// again and see if the 2nd average is within a small margin of
// the first
uint8_t num_converged = 0;
// we try to get a good calibration estimate for up to 10 seconds
// if the gyros are stable, we should get it in 2 seconds
for (int16_t j = 0; j <= 10 && num_converged < num_gyros; j++) {
// if the gyros are stable, we should get it in 1 second
for (int16_t j = 0; j <= 20 && num_converged < num_gyros; j++) {
Vector3f gyro_sum[num_gyros], gyro_avg[num_gyros], gyro_diff[num_gyros];
float diff_norm[num_gyros];
uint8_t i;