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Code Issues Releases Activity

OP-1211 adjusted alpha value to more sensible default

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This commit is contained in:
Corvus Corax 2014-02-04 19:21:33 +01:00
parent 723e22aa1a
commit a3bb523bf3
1 changed files with 2 additions and 2 deletions
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4
flight/modules/Stabilization/stabilization.c
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@ -68,7 +68,7 @@
#define UPDATE_EXPECTED (1.0f / 666.0f) #define UPDATE_EXPECTED (1.0f / 666.0f)
#define UPDATE_MIN 1.0e-6f #define UPDATE_MIN 1.0e-6f
#define UPDATE_MAX 1.0f #define UPDATE_MAX 1.0f
#define UPDATE_ALPHA 1.0e-3f #define UPDATE_ALPHA 1.0e-2f
#define MAX_QUEUE_SIZE 1 #define MAX_QUEUE_SIZE 1
@ -234,7 +234,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
} }
dT = PIOS_DELTATIME_GetAverageSeconds(&timeval); dT = PIOS_DELTATIME_GetAverageSeconds(&timeval);
fprintf(stderr, "dt is %f\n", dT);
FlightStatusGet(&flightStatus); FlightStatusGet(&flightStatus);
StabilizationDesiredGet(&stabDesired); StabilizationDesiredGet(&stabDesired);
AttitudeStateGet(&attitudeState); AttitudeStateGet(&attitudeState);