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Merge remote-tracking branch 'origin/amorale/OP-925_Cyr_patches_for_revo_cf' into next

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Alessio Morale 2013-05-28 18:39:42 +02:00
commit 6b2218d1df
2 changed files with 7 additions and 7 deletions
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2
flight/modules/Attitude/revolution/attitude.c
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@ -1185,7 +1185,7 @@ static void settingsUpdatedCb(UAVObjEvent *ev)
AttitudeSettingsGet(&attitudeSettings);
// Calculate accel filter alpha, in the same way as for gyro data in stabilization module.
const float fakeDt = 0.0025f;
const float fakeDt = 0.0015f;
if (attitudeSettings.AccelTau < 0.0001f) {
accel_alpha = 0; // not trusting this to resolve to 0
accel_filter_enabled = false;

12
shared/uavobjectdefinition/attitudesettings.xml
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@ -7,13 +7,13 @@
<field name="GyroGain" units="(rad/s)/lsb" type="float" elements="1" defaultvalue="0.42"/>
<field name="AccelKp" units="channel" type="float" elements="1" defaultvalue="0.05"/>
<field name="AccelKi" units="channel" type="float" elements="1" defaultvalue="0.0001"/>
<field name="MagKi" units="" type="float" elements="1" defaultvalue="0"/>
<field name="MagKp" units="" type="float" elements="1" defaultvalue="0"/>
<field name="AccelTau" units="" type="float" elements="1" defaultvalue="0"/>
<field name="MagKi" units="" type="float" elements="1" defaultvalue="0"/>
<field name="MagKp" units="" type="float" elements="1" defaultvalue="0"/>
<field name="AccelTau" units="" type="float" elements="1" defaultvalue="0"/>
<field name="YawBiasRate" units="channel" type="float" elements="1" defaultvalue="0.000001"/>
<field name="ZeroDuringArming" units="channel" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
<field name="BiasCorrectGyro" units="channel" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
<field name="TrimFlight" units="channel" type="enum" elements="1" options="NORMAL,START,LOAD" defaultvalue="NORMAL"/>
<field name="ZeroDuringArming" units="channel" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
<field name="BiasCorrectGyro" units="channel" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
<field name="TrimFlight" units="channel" type="enum" elements="1" options="NORMAL,START,LOAD" defaultvalue="NORMAL"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>