aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

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

Browse Source 
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AP_DCM/AP_DCM.h
View File

@ -41,8 +41,8 @@ public:
// which will make us less prone to increasing omegaI // which will make us less prone to increasing omegaI
// incorrectly due to sensor noise // incorrectly due to sensor noise
_gyro_drift_limit = imu->get_gyro_drift_rate(); _gyro_drift_limit = imu->get_gyro_drift_rate();
_ki_roll_pitch = _gyro_drift_limit * 3; _ki_roll_pitch = _gyro_drift_limit * 5;
_ki_yaw = _gyro_drift_limit * 4; _ki_yaw = _gyro_drift_limit * 8;
} }
// Accessors // Accessors