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Based on Doug's recommendation - increased Accel weighting to .66 – 1.33 Gs 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2557 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-06-14 23:37:43 +00:00
parent b35d0677d0
commit edaf2b9641
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_DCM/AP_DCM.cpp
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@ -227,7 +227,7 @@ AP_DCM::drift_correction(void)
// Dynamic weighting of accelerometer info (reliability filter) // Dynamic weighting of accelerometer info (reliability filter)
// Weight for accelerometer info (<0.5G = 0.0, 1G = 1.0 , >1.5G = 0.0) // 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 // 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); _health = constrain(_health+(0.02 * (accel_weight - .5)), 0, 1);