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Code Issues Releases Activity

Fixes recent, but broken, commit of fix for OP-754. Bunny is bad.

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This commit is contained in:
Richard Flay (Hyper) 2013-05-04 11:30:39 +09:30
parent 576d33464a
commit 7f273bd9e6
1 changed files with 3 additions and 3 deletions
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6
flight/modules/Attitude/attitude.c
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@ -237,7 +237,7 @@ static void AttitudeTask(void *parameters)
AttitudeSettingsAccelKiGet(&accelKi);
AttitudeSettingsAccelKpGet(&accelKp);
AttitudeSettingsYawBiasRateGet(&yawBiasRate);
rollPitchBiasRate = 0.0f
rollPitchBiasRate = 0.0f;
if (accel_alpha > 0.0f)
accel_filter_enabled = true;
init = 1;
@ -437,8 +437,8 @@ static int32_t updateSensorsCC3D(AccelsData * accelsData, GyrosData * gyrosData)
}
// Force the roll & pitch gyro rates to average to zero during initialisation
gyro_correct_int[0] += - gyros->x * rollPitchBiasRate;
gyro_correct_int[1] += - gyros->y * rollPitchBiasRate;
gyro_correct_int[0] += - gyrosData->x * rollPitchBiasRate;
gyro_correct_int[1] += - gyrosData->y * rollPitchBiasRate;
// Because most crafts wont get enough information from gravity to zero yaw gyro, we try
// and make it average zero (weakly)