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Code Issues Releases Activity

CC-20 Attitude initialization: Make sure no divide by 0 condition possible

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2761 ebee16cc-31ac-478f-84a7-5cbb03baadba
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peabody124 2011-02-08 16:34:55 +00:00 committed by peabody124
parent 9ed0882df9
commit 8498512855
1 changed files with 1 additions and 1 deletions
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flight/Modules/Attitude/attitude.c
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@ -137,7 +137,7 @@ static void AttitudeTask(void *parameters)
// For first 5 seconds use accels to get gyro bias // For first 5 seconds use accels to get gyro bias
accelKp = 1; accelKp = 1;
// Decrease the rate of gyro learning during init // Decrease the rate of gyro learning during init
accelKi = .1 / (xTaskGetTickCount() / 5000); accelKi = .5 / (1 + xTaskGetTickCount() / 5000);
} else if (init == 0) { } else if (init == 0) {
settingsUpdatedCb(AttitudeSettingsHandle()); settingsUpdatedCb(AttitudeSettingsHandle());
init = 1; init = 1;