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Merge remote-tracking branch 'origin/cyr/yawzero' into next

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This commit is contained in:
Oleg Semyonov 2013-04-19 15:30:57 +03:00
commit efeb7c4890
1 changed files with 2 additions and 2 deletions
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4
flight/Modules/Attitude/attitude.c
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@ -218,14 +218,14 @@ static void AttitudeTask(void *parameters)
// For first 7 seconds use accels to get gyro bias
accelKp = 1;
accelKi = 0.9;
yawBiasRate = 0.23;
yawBiasRate = 0.01;
accel_filter_enabled = false;
init = 0;
}
else if (zero_during_arming && (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMING)) {
accelKp = 1;
accelKi = 0.9;
yawBiasRate = 0.23;
yawBiasRate = 0.01;
accel_filter_enabled = false;
init = 0;
} else if (init == 0) {