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Quaternion: drop the gyro drift rates down 

this should allow us to cope with noise more readily
This commit is contained in:
Andrew Tridgell 2012-03-03 20:47:15 +11:00
parent 2d6680f144
commit de1cfc8e34
1 changed files with 4 additions and 4 deletions
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8
libraries/AP_Quaternion/AP_Quaternion.h
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@ -91,11 +91,11 @@ private:
// true if we are doing centripetal acceleration correction // true if we are doing centripetal acceleration correction
bool _centripetal; bool _centripetal;
// maximum gyroscope measurement error in rad/s (set to 5 degrees/second) // maximum gyroscope measurement error in rad/s (set to 2 degrees/second)
static const float gyroMeasError = 5.0 * (M_PI/180.0); static const float gyroMeasError = 2.0 * (M_PI/180.0);
// maximum gyroscope drift rate in radians/s/s (set to 0.2 degrees/s/s) // maximum gyroscope drift rate in radians/s/s (set to 0.03 degrees/s/s)
static const float gyroMeasDrift = 0.2 * (PI/180.0); static const float gyroMeasDrift = 0.03 * (PI/180.0);
float beta; float beta;
float zeta; float zeta;