From 60332efec0b93912b6620e904bc70dee248cd6ff Mon Sep 17 00:00:00 2001
From: peabody124 <peabody124>
Date: Sun, 22 Aug 2010 17:02:12 +0000
Subject: [PATCH] OP-118 AHRS: Missed the auto generated files for the default
 values.  Also no idea why last patch changed navigationsettings - either make
 uavobjects does differently on different platforms or someone forgot to run
 make uavobjects.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1372 ebee16cc-31ac-478f-84a7-5cbb03baadba
---
 flight/OpenPilot/UAVObjects/ahrscalibration.c | 20 +++++++++----------
 .../plugins/uavobjects/ahrscalibration.cpp    | 20 +++++++++----------
 2 files changed, 20 insertions(+), 20 deletions(-)

diff --git a/flight/OpenPilot/UAVObjects/ahrscalibration.c b/flight/OpenPilot/UAVObjects/ahrscalibration.c
index a4deadee2..597da92ae 100644
--- a/flight/OpenPilot/UAVObjects/ahrscalibration.c
+++ b/flight/OpenPilot/UAVObjects/ahrscalibration.c
@@ -73,31 +73,31 @@ static void setDefaults(UAVObjHandle obj, uint16_t instId)
 	// Initialize object fields to their default values
 	UAVObjGetInstanceData(obj, instId, &data);
 	memset(&data, 0, sizeof(AHRSCalibrationData));
-    data.measure_var = 1;
+    data.measure_var = 0;
     data.accel_bias[0] = -2048;
     data.accel_bias[1] = -2048;
     data.accel_bias[2] = -2048;
     data.accel_scale[0] = 0.012;
     data.accel_scale[1] = 0.012;
     data.accel_scale[2] = 0.012;
-    data.accel_var[0] = 1;
-    data.accel_var[1] = 1;
-    data.accel_var[2] = 1;
+    data.accel_var[0] = 5e-05;
+    data.accel_var[1] = 5e-05;
+    data.accel_var[2] = 5e-05;
     data.gyro_bias[0] = -1675;
     data.gyro_bias[1] = -1675;
     data.gyro_bias[2] = -1675;
     data.gyro_scale[0] = 0.007;
     data.gyro_scale[1] = 0.007;
     data.gyro_scale[2] = 0.007;
-    data.gyro_var[0] = 1;
-    data.gyro_var[1] = 1;
-    data.gyro_var[2] = 1;
+    data.gyro_var[0] = 0.0001;
+    data.gyro_var[1] = 0.0001;
+    data.gyro_var[2] = 0.0001;
     data.mag_bias[0] = 0;
     data.mag_bias[1] = 0;
     data.mag_bias[2] = 0;
-    data.mag_var[0] = 1;
-    data.mag_var[1] = 1;
-    data.mag_var[2] = 1;
+    data.mag_var[0] = 0;
+    data.mag_var[1] = 0;
+    data.mag_var[2] = 0;
 
 	UAVObjSetInstanceData(obj, instId, &data);
 
diff --git a/ground/src/plugins/uavobjects/ahrscalibration.cpp b/ground/src/plugins/uavobjects/ahrscalibration.cpp
index 956461015..7c7737810 100644
--- a/ground/src/plugins/uavobjects/ahrscalibration.cpp
+++ b/ground/src/plugins/uavobjects/ahrscalibration.cpp
@@ -121,31 +121,31 @@ UAVObject::Metadata AHRSCalibration::getDefaultMetadata()
  */
 void AHRSCalibration::setDefaultFieldValues()
 {
-    data.measure_var = 1;
+    data.measure_var = 0;
     data.accel_bias[0] = -2048;
     data.accel_bias[1] = -2048;
     data.accel_bias[2] = -2048;
     data.accel_scale[0] = 0.012;
     data.accel_scale[1] = 0.012;
     data.accel_scale[2] = 0.012;
-    data.accel_var[0] = 1;
-    data.accel_var[1] = 1;
-    data.accel_var[2] = 1;
+    data.accel_var[0] = 5e-05;
+    data.accel_var[1] = 5e-05;
+    data.accel_var[2] = 5e-05;
     data.gyro_bias[0] = -1675;
     data.gyro_bias[1] = -1675;
     data.gyro_bias[2] = -1675;
     data.gyro_scale[0] = 0.007;
     data.gyro_scale[1] = 0.007;
     data.gyro_scale[2] = 0.007;
-    data.gyro_var[0] = 1;
-    data.gyro_var[1] = 1;
-    data.gyro_var[2] = 1;
+    data.gyro_var[0] = 0.0001;
+    data.gyro_var[1] = 0.0001;
+    data.gyro_var[2] = 0.0001;
     data.mag_bias[0] = 0;
     data.mag_bias[1] = 0;
     data.mag_bias[2] = 0;
-    data.mag_var[0] = 1;
-    data.mag_var[1] = 1;
-    data.mag_var[2] = 1;
+    data.mag_var[0] = 0;
+    data.mag_var[1] = 0;
+    data.mag_var[2] = 0;
 
 }