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

ACM: allow users to set the AHRS_YAW_P and AHRS_RP_P 

the forced set left users with parameters they couldn't use
This commit is contained in:
Andrew Tridgell 2012-08-11 08:35:10 +10:00
parent b01907cf23
commit c2dc920d02
2 changed files with 10 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
ArduCopter/Parameters.pde
View File

@ -369,6 +369,16 @@ static void load_parameters(void)
ahrs.gps_gain.set_and_save(0.0); ahrs.gps_gain.set_and_save(0.0);
} }
// setup different AHRS gains for ArduCopter than the default
// but allow users to override in their config
if (!ahrs._kp.load()) {
ahrs._kp.set_and_save(0.1);
}
if (!ahrs._kp_yaw.load()) {
ahrs._kp_yaw.set_and_save(0.1);
}
if (!g.format_version.load() || if (!g.format_version.load() ||
g.format_version != Parameters::k_format_version) { g.format_version != Parameters::k_format_version) {

3
ArduCopter/motors.pde
View File

@ -148,9 +148,6 @@ static void init_arm_motors()
startup_ground(); startup_ground();
} }
ahrs._kp.set(0.1);
ahrs._kp_yaw.set(0.1);
#if HIL_MODE != HIL_MODE_ATTITUDE #if HIL_MODE != HIL_MODE_ATTITUDE
// read Baro pressure at ground - // read Baro pressure at ground -
// this resets Baro for more accuracy // this resets Baro for more accuracy