From 684e0dc14f1e517fe88bce5c2213e270a3a03f15 Mon Sep 17 00:00:00 2001 From: Laurent Lalanne Date: Sat, 17 Jun 2017 16:50:58 +0200 Subject: [PATCH] LP-482 Increase temporary MagKp for initialisation --- flight/modules/StateEstimation/filtercf.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/flight/modules/StateEstimation/filtercf.c b/flight/modules/StateEstimation/filtercf.c index 714f5d938..62c15adcf 100644 --- a/flight/modules/StateEstimation/filtercf.c +++ b/flight/modules/StateEstimation/filtercf.c @@ -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) {