From ced0a4b9520af6be6769943a77951f94183ce84e Mon Sep 17 00:00:00 2001
From: peabody124 <peabody124>
Date: Fri, 27 Aug 2010 21:05:41 +0000
Subject: [PATCH] AHRS: Fixed silly bug that made the default mag variance be
 zero - explains "hopping around" default behavior.  Still should run
 calibration though.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1439 ebee16cc-31ac-478f-84a7-5cbb03baadba
---
 flight/OpenPilot/UAVObjects/ahrscalibration.c             | 6 +++---
 ground/src/plugins/uavobjects/ahrscalibration.cpp         | 6 +++---
 ground/src/shared/uavobjectdefinition/ahrscalibration.xml | 2 +-
 3 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/flight/OpenPilot/UAVObjects/ahrscalibration.c b/flight/OpenPilot/UAVObjects/ahrscalibration.c
index 8e668689b..5ca39cf38 100644
--- a/flight/OpenPilot/UAVObjects/ahrscalibration.c
+++ b/flight/OpenPilot/UAVObjects/ahrscalibration.c
@@ -102,9 +102,9 @@ static void setDefaults(UAVObjHandle obj, uint16_t instId)
     data.mag_bias[0] = 0;
     data.mag_bias[1] = 0;
     data.mag_bias[2] = 0;
-    data.mag_var[0] = 0;
-    data.mag_var[1] = 0;
-    data.mag_var[2] = 0;
+    data.mag_var[0] = 5e-05;
+    data.mag_var[1] = 5e-05;
+    data.mag_var[2] = 5e-05;
 
 	UAVObjSetInstanceData(obj, instId, &data);
 
diff --git a/ground/src/plugins/uavobjects/ahrscalibration.cpp b/ground/src/plugins/uavobjects/ahrscalibration.cpp
index 7c7737810..522906d0c 100644
--- a/ground/src/plugins/uavobjects/ahrscalibration.cpp
+++ b/ground/src/plugins/uavobjects/ahrscalibration.cpp
@@ -143,9 +143,9 @@ void AHRSCalibration::setDefaultFieldValues()
     data.mag_bias[0] = 0;
     data.mag_bias[1] = 0;
     data.mag_bias[2] = 0;
-    data.mag_var[0] = 0;
-    data.mag_var[1] = 0;
-    data.mag_var[2] = 0;
+    data.mag_var[0] = 5e-05;
+    data.mag_var[1] = 5e-05;
+    data.mag_var[2] = 5e-05;
 
 }
 
diff --git a/ground/src/shared/uavobjectdefinition/ahrscalibration.xml b/ground/src/shared/uavobjectdefinition/ahrscalibration.xml
index a743663ce..585524d1a 100644
--- a/ground/src/shared/uavobjectdefinition/ahrscalibration.xml
+++ b/ground/src/shared/uavobjectdefinition/ahrscalibration.xml
@@ -9,7 +9,7 @@
     <field name="gyro_scale" units="deg/s" type="float" elementnames="X,Y,Z" defaultvalue="0.0070"/>
     <field name="gyro_var" units="deg^s/s^2" type="float" elementnames="X,Y,Z" defaultvalue="1e-4"/>
     <field name="mag_bias" units="mGau" type="float" elementnames="X,Y,Z" defaultvalue="0"/>
-    <field name="mag_var" units="mGau^s" type="float" elementnames="X,Y,Z" defaultvalue="5-e5"/>
+    <field name="mag_var" units="mGau^s" type="float" elementnames="X,Y,Z" defaultvalue="5e-5"/>
     <access gcs="readwrite" flight="readwrite"/>
     <telemetrygcs acked="true" updatemode="onchange" period="0"/>
     <telemetryflight acked="true" updatemode="onchange" period="0"/>