From fb433a97d76f86bd072f6ad81fbfac6fafe272d3 Mon Sep 17 00:00:00 2001 From: Corvus Corax Date: Mon, 20 May 2013 20:52:45 +0200 Subject: [PATCH] Bugfix: add gyro bias to correct axis --- flight/modules/Attitude/revolution/attitude.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/flight/modules/Attitude/revolution/attitude.c b/flight/modules/Attitude/revolution/attitude.c index 2a3b38d3d..ad5d1dc90 100644 --- a/flight/modules/Attitude/revolution/attitude.c +++ b/flight/modules/Attitude/revolution/attitude.c @@ -476,8 +476,8 @@ static int32_t updateAttitudeComplementary(bool first_run) // Accumulate integral of error. Scale here so that units are (deg/s) but Ki has units of s gyro_bias[0] -= accel_err[0] * attitudeSettings.AccelKi; - gyro_bias[0] -= accel_err[1] * attitudeSettings.AccelKi; - gyro_bias[0] -= mag_err[2] * magKi; + gyro_bias[1] -= accel_err[1] * attitudeSettings.AccelKi; + gyro_bias[2] -= mag_err[2] * magKi; // Correct rates based on integral coefficient gyroStateData.x -= gyro_bias[0];