Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

DCM: adjust yaw kp constant down to 0.4 

this makes the time constant for compass errors closely match the
timing of the older releases - about 10 seconds for a 1 radian change
in heading
This commit is contained in:
Andrew Tridgell 2012-03-12 17:49:15 +11:00
parent aa408655f8
commit 9a6adb9990
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_DCM/AP_DCM.h
View File

@ -26,7 +26,7 @@ public:
// Constructors // Constructors
AP_DCM(IMU *imu, GPS *&gps) : AP_DCM(IMU *imu, GPS *&gps) :
_kp_roll_pitch(0.13), _kp_roll_pitch(0.13),
_kp_yaw(0.8), _kp_yaw(0.4),
_gps(gps), _gps(gps),
_imu(imu), _imu(imu),
_dcm_matrix(1, 0, 0, _dcm_matrix(1, 0, 0,