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Merge branch 'pt/CC3D_Release' of ssh://git.openpilot.org/OpenPilot into pt/CC3D_Release

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PT_Dreamer 2012-09-06 12:42:41 +01:00
commit f1f4144c27
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flight/Modules/Attitude/attitude.c
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@ -420,6 +420,10 @@ static int32_t updateSensorsCC3D(AccelsData * accelsData, GyrosData * gyrosData)
gyrosData->z += gyro_correct_int[2]; gyrosData->z += gyro_correct_int[2];
} }
// Because most crafts wont get enough information from gravity to zero yaw gyro, we try
// and make it average zero (weakly)
gyro_correct_int[2] += - gyrosData->z * yawBiasRate;
GyrosSet(gyrosData); GyrosSet(gyrosData);
AccelsSet(accelsData); AccelsSet(accelsData);