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DCM: after some experimentation, raise the ki values a bit

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this tracks the max gyro drift more accurately
This commit is contained in:
Andrew Tridgell 2012-03-09 09:03:47 +11:00
parent 89b4a9f4ed
commit fed5426274
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_DCM/AP_DCM.h
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@ -41,8 +41,8 @@ public:
// which will make us less prone to increasing omegaI
// incorrectly due to sensor noise
_gyro_drift_limit = imu->get_gyro_drift_rate();
_ki_roll_pitch = _gyro_drift_limit * 3;
_ki_yaw = _gyro_drift_limit * 4;
_ki_roll_pitch = _gyro_drift_limit * 5;
_ki_yaw = _gyro_drift_limit * 8;
}
// Accessors