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Code Issues Releases Activity

Better init values for gyro_scale, I had problems getting gyros calibrated.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3087 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
sambas 2011-03-28 15:29:21 +00:00 committed by sambas
parent fd5c344d52
commit 64cacc2c69
1 changed files with 4 additions and 3 deletions
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7
ground/openpilotgcs/src/plugins/config/configahrswidget.cpp
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@ -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) {