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AP_InertialSensor: allow gyro calibration to take up to 30 seconds

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this gives time for the user time to get their battery hatches on and
hold the model steady. 5 seconds was just far too short
This commit is contained in:
Andrew Tridgell 2014-11-22 13:25:23 +11:00
parent 20f3f19285
commit f84f432ecf
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -687,9 +687,9 @@ AP_InertialSensor::_init_gyro()
uint8_t num_converged = 0; uint8_t num_converged = 0;
// we try to get a good calibration estimate for up to 10 seconds // we try to get a good calibration estimate for up to 30 seconds
// if the gyros are stable, we should get it in 1 second // if the gyros are stable, we should get it in 1 second
for (int16_t j = 0; j <= 20 && num_converged < num_gyros; j++) { for (int16_t j = 0; j <= 30*4 && num_converged < num_gyros; j++) {
Vector3f gyro_sum[INS_MAX_INSTANCES], gyro_avg[INS_MAX_INSTANCES], gyro_diff[INS_MAX_INSTANCES]; Vector3f gyro_sum[INS_MAX_INSTANCES], gyro_avg[INS_MAX_INSTANCES], gyro_diff[INS_MAX_INSTANCES];
float diff_norm[INS_MAX_INSTANCES]; float diff_norm[INS_MAX_INSTANCES];
uint8_t i; uint8_t i;