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Q estimator: Increase phase margin

This commit is contained in:
Lorenz Meier 2015-11-29 18:06:39 +01:00
parent c28f394c3c
commit 3c26ca99a0
1 changed files with 3 additions and 3 deletions
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6
src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
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@ -205,9 +205,9 @@ AttitudeEstimatorQ::AttitudeEstimatorQ() :
_voter_gyro(3),
_voter_accel(3),
_voter_mag(3),
_lp_roll_rate(250.0f, 18.0f),
_lp_pitch_rate(250.0f, 18.0f),
_lp_yaw_rate(250.0f, 10.0f)
_lp_roll_rate(250.0f, 30.0f),
_lp_pitch_rate(250.0f, 30.0f),
_lp_yaw_rate(250.0f, 20.0f)
{
_voter_mag.set_timeout(200000);