From 99d21854f9febe83f21c8ea452d8c6b45aa5a7db Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Sat, 4 May 2013 15:16:35 +1000
Subject: [PATCH] SITL: fixed drift rate limit in simulator
---
libraries/AP_InertialSensor/AP_InertialSensor_Stub.cpp | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Stub.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Stub.cpp
index 488036a2fd..4909f5ea0c 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Stub.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Stub.cpp
@@ -41,7 +41,8 @@ uint32_t AP_InertialSensor_Stub::get_last_sample_time_micros() {
return _last_update_ms * 1000;
}
float AP_InertialSensor_Stub::get_gyro_drift_rate(void) {
- return 0.0;
+ // 0.5 degrees/second/minute
+ return ToRad(0.5/60);
}
uint16_t AP_InertialSensor_Stub::num_samples_available()
{