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AP_AHRS: Reduce time constant on filtering of DCM error reporting

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Reduces time constant from 2 to 1 second to make data more useful for pre-flight alignment checks by the EKF
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Paul Riseborough 2015-04-22 11:17:59 +10:00 committed by Randy Mackay
parent 7e43eaafab
commit ea8217bd3a
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_AHRS/AP_AHRS_DCM.cpp
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@ -476,7 +476,7 @@ AP_AHRS_DCM::drift_correction_yaw(void)
_omega_I_sum.z += error_z * _ki_yaw * yaw_deltat;
}
_error_yaw = 0.9f * _error_yaw + 0.1f * fabsf(yaw_error);
_error_yaw = 0.8f * _error_yaw + 0.2f * fabsf(yaw_error);
}
@ -736,7 +736,7 @@ AP_AHRS_DCM::drift_correction(float deltat)
return;
}
_error_rp = 0.9f * _error_rp + 0.1f * best_error;
_error_rp = 0.8f * _error_rp + 0.2f * best_error;
// base the P gain on the spin rate
float spin_rate = _omega.length();