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Merge branch 'D-Lite/fix_CC3D_yawBias_correction' into next

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Werner Backes 2012-09-06 13:47:03 +02:00
commit 2a4e135c81
1 changed files with 4 additions and 0 deletions
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4
flight/Modules/Attitude/attitude.c
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@ -420,6 +420,10 @@ static int32_t updateSensorsCC3D(AccelsData * accelsData, GyrosData * gyrosData)
gyrosData->z += gyro_correct_int[2];
}
// Because most crafts wont get enough information from gravity to zero yaw gyro, we try
// and make it average zero (weakly)
gyro_correct_int[2] += - gyrosData->z * yawBiasRate;
GyrosSet(gyrosData);
AccelsSet(accelsData);