rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-02-05 21:52:10 +01:00
Code Issues Releases Activity

removed redundant check as suggested in review

Browse Source
This commit is contained in:
Corvus Corax 2013-06-23 19:39:00 +02:00
parent e916902c9e
commit 5bdfad4bdb
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
flight/modules/StateEstimation/filtercf.c
View File

@ -277,7 +277,7 @@ static int32_t complementaryFilter(struct data *this, float gyro[3], float accel
// wait 4 seconds for the user to get his hands off in case the board was just powered // wait 4 seconds for the user to get his hands off in case the board was just powered
this->timeval = PIOS_DELAY_GetRaw(); this->timeval = PIOS_DELAY_GetRaw();
return 1; return 1;
} else if (this->init == 0 && PIOS_DELAY_DiffuS(this->starttime) < 10000000 && PIOS_DELAY_DiffuS(this->starttime) >= 4000000) { } else if (this->init == 0 && PIOS_DELAY_DiffuS(this->starttime) < 10000000) {
// For first 7 seconds use accels to get gyro bias // For first 7 seconds use accels to get gyro bias
this->attitudeSettings.AccelKp = 1.0f; this->attitudeSettings.AccelKp = 1.0f;
this->attitudeSettings.AccelKi = 0.0f; this->attitudeSettings.AccelKi = 0.0f;