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Revert "OP-990 zeroed the rollpitch bias rate at startup and incremented at arming."

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This reverts commit c0b926a2d5244dc9b64081273f93484ad6d4d281.
This commit is contained in:
Alessio Morale 2013-06-07 18:16:08 +02:00
parent 7e50c00885
commit 3ad123718e
1 changed files with 2 additions and 2 deletions
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4
flight/modules/Attitude/revolution/attitude.c
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@ -388,14 +388,14 @@ static int32_t updateAttitudeComplementary(bool first_run)
attitudeSettings.AccelKi = 0.0f; attitudeSettings.AccelKi = 0.0f;
attitudeSettings.YawBiasRate = 0.23f; attitudeSettings.YawBiasRate = 0.23f;
accel_filter_enabled = false; accel_filter_enabled = false;
rollPitchBiasRate = 0.0f; rollPitchBiasRate = 0.01f;
attitudeSettings.MagKp = 1.0f; attitudeSettings.MagKp = 1.0f;
} else if ((attitudeSettings.ZeroDuringArming == ATTITUDESETTINGS_ZERODURINGARMING_TRUE) && (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMING)) { } else if ((attitudeSettings.ZeroDuringArming == ATTITUDESETTINGS_ZERODURINGARMING_TRUE) && (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMING)) {
attitudeSettings.AccelKp = 1.0f; attitudeSettings.AccelKp = 1.0f;
attitudeSettings.AccelKi = 0.0f; attitudeSettings.AccelKi = 0.0f;
attitudeSettings.YawBiasRate = 0.23f; attitudeSettings.YawBiasRate = 0.23f;
accel_filter_enabled = false; accel_filter_enabled = false;
rollPitchBiasRate = 0.015f; rollPitchBiasRate = 0.01f;
attitudeSettings.MagKp = 1.0f; attitudeSettings.MagKp = 1.0f;
init = 0; init = 0;
} else if (init == 0) { } else if (init == 0) {