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AP_AHRS: lower default roll and yaw drift correction speed

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the gyros sustain accuracy over much longer time periods than
previously expected
This commit is contained in:
Andrew Tridgell 2013-11-05 14:52:39 +11:00
parent 24d1cf3bd6
commit 56bcda7252
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_AHRS/AP_AHRS.cpp
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@ -41,14 +41,14 @@ const AP_Param::GroupInfo AP_AHRS::var_info[] PROGMEM = {
// @Description: This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly.
// @Range: 0.1 0.4
// @Increment: .01
AP_GROUPINFO("YAW_P", 4, AP_AHRS, _kp_yaw, 0.3f),
AP_GROUPINFO("YAW_P", 4, AP_AHRS, _kp_yaw, 0.2f),
// @Param: RP_P
// @DisplayName: AHRS RP_P
// @Description: This controls how fast the accelerometers correct the attitude
// @Range: 0.1 0.4
// @Increment: .01
AP_GROUPINFO("RP_P", 5, AP_AHRS, _kp, 0.3f),
AP_GROUPINFO("RP_P", 5, AP_AHRS, _kp, 0.2f),
// @Param: WIND_MAX
// @DisplayName: Maximum wind