From edaf2b964196a00023799e59b733a81852dd1d1c Mon Sep 17 00:00:00 2001 From: jasonshort Date: Tue, 14 Jun 2011 23:37:43 +0000 Subject: [PATCH] =?UTF-8?q?Based=20on=20Doug's=20recommendation=20-=20incr?= =?UTF-8?q?eased=20Accel=20weighting=20to=20.66=20=E2=80=93=201.33=20Gs?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit git-svn-id: https://arducopter.googlecode.com/svn/trunk@2557 f9c3cf11-9bcb-44bc-f272-b75c42450872 --- libraries/AP_DCM/AP_DCM.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_DCM/AP_DCM.cpp b/libraries/AP_DCM/AP_DCM.cpp index 6e415dfcf6..26749c7ba3 100644 --- a/libraries/AP_DCM/AP_DCM.cpp +++ b/libraries/AP_DCM/AP_DCM.cpp @@ -227,7 +227,7 @@ AP_DCM::drift_correction(void) // Dynamic weighting of accelerometer info (reliability filter) // Weight for accelerometer info (<0.5G = 0.0, 1G = 1.0 , >1.5G = 0.0) - accel_weight = constrain(1 - 2 * fabs(1 - accel_magnitude), 0, 1); // + accel_weight = constrain(1 - 3 * fabs(1 - accel_magnitude), 0, 1); // upped to (<0.66G = 0.0, 1G = 1.0 , >1.33G = 0.0) // We monitor the amount that the accelerometer based drift correction is deweighted for performance reporting _health = constrain(_health+(0.02 * (accel_weight - .5)), 0, 1);