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Code Issues Releases Activity

Decrease zeroing yawBiasRate to reduce noise-induced random yaw drift.

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This commit is contained in:
Erik Gustavsson 2012-11-29 18:50:25 +01:00
parent ea1199603b
commit 5132448fe8
1 changed files with 2 additions and 2 deletions
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4
flight/Modules/Attitude/attitude.c
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@ -218,14 +218,14 @@ static void AttitudeTask(void *parameters)
// For first 7 seconds use accels to get gyro bias // For first 7 seconds use accels to get gyro bias
accelKp = 1; accelKp = 1;
accelKi = 0.9; accelKi = 0.9;
yawBiasRate = 0.23; yawBiasRate = 0.01;
accel_filter_enabled = false; accel_filter_enabled = false;
init = 0; init = 0;
} }
else if (zero_during_arming && (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMING)) { else if (zero_during_arming && (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMING)) {
accelKp = 1; accelKp = 1;
accelKi = 0.9; accelKi = 0.9;
yawBiasRate = 0.23; yawBiasRate = 0.01;
accel_filter_enabled = false; accel_filter_enabled = false;
init = 0; init = 0;
} else if (init == 0) { } else if (init == 0) {