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Merge branch 'next' of ssh://git.openpilot.org/OpenPilot into OP-932-Modularize_Radio_Driver

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Brian Webb 2013-05-04 16:50:20 +01:00
commit d7ca77b996
1 changed files with 3 additions and 3 deletions
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6
flight/modules/Attitude/attitude.c
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@ -237,7 +237,7 @@ static void AttitudeTask(void *parameters)
AttitudeSettingsAccelKiGet(&accelKi); AttitudeSettingsAccelKiGet(&accelKi);
AttitudeSettingsAccelKpGet(&accelKp); AttitudeSettingsAccelKpGet(&accelKp);
AttitudeSettingsYawBiasRateGet(&yawBiasRate); AttitudeSettingsYawBiasRateGet(&yawBiasRate);
rollPitchBiasRate = 0.0f rollPitchBiasRate = 0.0f;
if (accel_alpha > 0.0f) if (accel_alpha > 0.0f)
accel_filter_enabled = true; accel_filter_enabled = true;
init = 1; init = 1;
@ -437,8 +437,8 @@ static int32_t updateSensorsCC3D(AccelsData * accelsData, GyrosData * gyrosData)
} }
// Force the roll & pitch gyro rates to average to zero during initialisation // Force the roll & pitch gyro rates to average to zero during initialisation
gyro_correct_int[0] += - gyros->x * rollPitchBiasRate; gyro_correct_int[0] += - gyrosData->x * rollPitchBiasRate;
gyro_correct_int[1] += - gyros->y * rollPitchBiasRate; gyro_correct_int[1] += - gyrosData->y * rollPitchBiasRate;
// Because most crafts wont get enough information from gravity to zero yaw gyro, we try // Because most crafts wont get enough information from gravity to zero yaw gyro, we try
// and make it average zero (weakly) // and make it average zero (weakly)