From 5132448fe810c127290ccfae9ba6f70b7c3884f6 Mon Sep 17 00:00:00 2001
From: Erik Gustavsson <cyrano@area26.se>
Date: Thu, 29 Nov 2012 18:50:25 +0100
Subject: [PATCH] Decrease zeroing yawBiasRate to reduce noise-induced random
 yaw drift.

---
 flight/Modules/Attitude/attitude.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/flight/Modules/Attitude/attitude.c b/flight/Modules/Attitude/attitude.c
index 7f43eb7a7..02c511500 100644
--- a/flight/Modules/Attitude/attitude.c
+++ b/flight/Modules/Attitude/attitude.c
@@ -218,14 +218,14 @@ static void AttitudeTask(void *parameters)
 			// For first 7 seconds use accels to get gyro bias
 			accelKp = 1;
 			accelKi = 0.9;
-			yawBiasRate = 0.23;
+			yawBiasRate = 0.01;
 			accel_filter_enabled = false;
 			init = 0;
 		}
 		else if (zero_during_arming && (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMING)) {
 			accelKp = 1;
 			accelKi = 0.9;
-			yawBiasRate = 0.23;
+			yawBiasRate = 0.01;
 			accel_filter_enabled = false;
 			init = 0;
 		} else if (init == 0) {