From 64cacc2c6931de9d3d2629c8a24e573406260a63 Mon Sep 17 00:00:00 2001
From: sambas <sambas>
Date: Mon, 28 Mar 2011 15:29:21 +0000
Subject: [PATCH] Better init values for gyro_scale, I had problems getting
 gyros calibrated.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3087 ebee16cc-31ac-478f-84a7-5cbb03baadba
---
 .../openpilotgcs/src/plugins/config/configahrswidget.cpp   | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/configahrswidget.cpp b/ground/openpilotgcs/src/plugins/config/configahrswidget.cpp
index 55d7b2154..9e8116f0d 100644
--- a/ground/openpilotgcs/src/plugins/config/configahrswidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configahrswidget.cpp
@@ -887,6 +887,7 @@ void ConfigAHRSWidget::sixPointCalibrationMode()
 
     // set accels to unity gain
     UAVObjectField *field = obj->getField(QString("accel_scale"));
+    UAVObjectField *field2 = obj->getField(QString("gyro_scale"));
     // TODO: Figure out how to load these directly from the saved metadata
     // about default values
     field->setDouble(0.0359, 0);
@@ -904,9 +905,9 @@ void ConfigAHRSWidget::sixPointCalibrationMode()
     }
 
     field = obj->getField(QString("gyro_bias"));
-    field->setDouble(23,0);
-    field->setDouble(-23,1);
-    field->setDouble(23,2);
+    field->setDouble(28/0.017*field2->getDouble(0),0);
+    field->setDouble(-28/0.017*field2->getDouble(1),1);
+    field->setDouble(28/0.017*field2->getDouble(2),2);
 
     field = obj->getField(QString("mag_scale"));
     for (int i = 0; i < 3; ++i) {