4 Commits

Author	SHA1	Message	Date
Andrew Tridgell	398a608b83	DCM: drop the 'drop z' method ... the 'drop z' method reduced the impact of noise on omegaI, but it also made us more sensitive to errors in accelerometer calibration and scaling, as demonstated by the logs from Gabor here: http://diydrones.com/xn/detail/705844:Comment:834373 Simulation testing shows that the other noise suppression methods applied in the DCM code, in particular the slope limiting on omegaI the removal of the weighting and the upcoming use of a _omega_I_sum buffer have reduced the impact of noise enough that we can now safely include z in the acceleration calculation.	2012-04-23 12:13:24 +10:00
Andrew Tridgell	a9de75156b	AHRS: added AHRS_YAW_P parameter ... this allows users to change the yaw gain in DCM	2012-04-16 20:55:13 +10:00
rmackay9	4dac4c4c11	AP_AHRS - changed parameter order to remove compiler warning	2012-04-09 17:37:11 +09:00
Andrew Tridgell	07b6f55122	AHRS: added missing AP_AHRS.h	2012-03-19 17:35:20 +11:00