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Code Issues Releases Activity

LP-482 Increase temporary MagKp for initialisation

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This commit is contained in:
Laurent Lalanne 2017-06-17 16:50:58 +02:00
parent ee7d630e3e
commit 684e0dc14f
1 changed files with 2 additions and 2 deletions
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4
flight/modules/StateEstimation/filtercf.c
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@ -315,7 +315,7 @@ static filterResult complementaryFilter(struct data *this, float gyro[3], float
this->attitudeSettings.YawBiasRate = 0.23f;
this->accel_filter_enabled = false;
this->rollPitchBiasRate = 0.01f;
this->attitudeSettings.MagKp = this->magCalibrated ? 1.0f : 0.0f;
this->attitudeSettings.MagKp = this->magCalibrated ? 20.0f : 0.0f;
PIOS_NOTIFY_StartNotification(NOTIFY_DRAW_ATTENTION, NOTIFY_PRIORITY_REGULAR);
} else if ((this->attitudeSettings.ZeroDuringArming == ATTITUDESETTINGS_ZERODURINGARMING_TRUE) && (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMING)) {
this->attitudeSettings.AccelKp = 1.0f;
@ -323,7 +323,7 @@ static filterResult complementaryFilter(struct data *this, float gyro[3], float
this->attitudeSettings.YawBiasRate = 0.23f;
this->accel_filter_enabled = false;
this->rollPitchBiasRate = 0.01f;
this->attitudeSettings.MagKp = this->magCalibrated ? 1.0f : 0.0f;
this->attitudeSettings.MagKp = this->magCalibrated ? 20.0f : 0.0f;
this->init = 0;
PIOS_NOTIFY_StartNotification(NOTIFY_DRAW_ATTENTION, NOTIFY_PRIORITY_REGULAR);
} else if (this->init == 0) {