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Code Issues Releases Activity

Better hardcoded constants for INS variances

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This commit is contained in:
James Cotton 2012-03-01 04:41:21 -06:00
parent de7fc81795
commit ce2d1f94f6
1 changed files with 3 additions and 2 deletions
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5
flight/Modules/Attitude/revolution/attitude.c
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@ -498,7 +498,7 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
var[0] = var[1] = 1e-4f;
var[2] = 1e-1f;
INSSetMagVar(var);
var[0] = var[1] = var[2] = 1.5e-5f;
var[0] = var[1] = var[2] = 1.5e-6f;
INSSetAccelVar(var);
var[0] = var[1] = var[2] = 2.0e-4f;
INSSetGyroVar(var);
@ -524,7 +524,8 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
// Reset the INS algorithm
INSGPSInit();
var[0] = var[1] = var[2] = 5e-3f;
var[0] = var[1] = 1e-4f;
var[2] = 1e-1f;
INSSetMagVar(var);
var[0] = var[1] = var[2] = 1.5e-5f;
INSSetAccelVar(var);