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CC-7 Reverse order of two lines so that yaw bias converges instead of diverges

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2693 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2011-02-02 09:16:28 +00:00 committed by peabody124
parent 265737427b
commit 986e124202
1 changed files with 2 additions and 2 deletions
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4
flight/Modules/Attitude/attitude.c
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@ -177,9 +177,9 @@ static void updateSensors()
attitudeRaw.gyros_filtered[ATTITUDERAW_GYROS_FILTERED_Y] += gyro_correct_int[1]; attitudeRaw.gyros_filtered[ATTITUDERAW_GYROS_FILTERED_Y] += gyro_correct_int[1];
// Because most crafts wont get enough information from gravity to zero yaw gyro // Because most crafts wont get enough information from gravity to zero yaw gyro
gyro_correct_int[2] += - attitudeRaw.gyros_filtered[ATTITUDERAW_GYROS_FILTERED_Z] *
settings.AccelKI * UPDATE_RATE / 1000;
attitudeRaw.gyros_filtered[ATTITUDERAW_GYROS_FILTERED_Z] += gyro_correct_int[2]; attitudeRaw.gyros_filtered[ATTITUDERAW_GYROS_FILTERED_Z] += gyro_correct_int[2];
gyro_correct_int[2] += - attitudeRaw.gyros_filtered[ATTITUDERAW_GYROS_FILTERED_Z] *
settings.AccelKI * UPDATE_RATE / 1000;
// Get the accel data // Get the accel data