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Code Issues Releases Activity

Now we store the gyro bias avoid quashing the initialization correction.

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This commit is contained in:
James Cotton 2011-06-25 10:38:37 -05:00
parent dedbcbfceb
commit 4c0245281d
1 changed files with 4 additions and 1 deletions
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5
flight/Modules/Attitude/attitude.c
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@ -158,7 +158,10 @@ static void AttitudeTask(void *parameters)
yawBiasRate = 0.23;
init = 0;
} else if (init == 0) {
settingsUpdatedCb(AttitudeSettingsHandle());
// Reload settings (all the rates)
AttitudeSettingsAccelKiGet(&accelKi);
AttitudeSettingsAccelKpGet(&accelKp);
AttitudeSettingsYawBiasRateGet(&yawBiasRate);
init = 1;
}