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SITL: separate out drift speed and drift level

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This commit is contained in:
Andrew Tridgell 2012-03-03 12:21:12 +11:00
parent 25cad09746
commit bddc6ba241
1 changed files with 4 additions and 3 deletions
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7
libraries/Desktop/support/sitl_adc.h
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@ -10,6 +10,7 @@
#include <math.h>
static const float vibration_level = 2.0;
static const float drift_speed = 1.0;
static const float drift_level = 1.0;
// order zgyro, xgyro, ygyro, temp, xacc, yacc, zacc, aspd
static const float noise_scale[8] = { 150, 150, 150, 0, 400, 400, 400, 0 };
@ -30,12 +31,12 @@ static inline float gyro_drift(uint8_t chan)
return 0;
}
extern long unsigned int micros(void);
double period = 10*drift_rate[chan] * drift_level;
double period = 10*drift_rate[chan] * drift_speed;
double minutes = fmod(micros() / 60.0e6, period);
if (minutes < period/2) {
return minutes;
return minutes * drift_level;
}
return period - minutes;
return (period - minutes) * drift_level;
}