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Code Issues Releases Activity

Bugfix: add gyro bias to correct axis

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This commit is contained in:
Corvus Corax 2013-05-20 20:52:45 +02:00
parent 1236bf3ed9
commit fb433a97d7
1 changed files with 2 additions and 2 deletions
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4
flight/modules/Attitude/revolution/attitude.c
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@ -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 // 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[0] * attitudeSettings.AccelKi;
gyro_bias[0] -= accel_err[1] * attitudeSettings.AccelKi; gyro_bias[1] -= accel_err[1] * attitudeSettings.AccelKi;
gyro_bias[0] -= mag_err[2] * magKi; gyro_bias[2] -= mag_err[2] * magKi;
// Correct rates based on integral coefficient // Correct rates based on integral coefficient
gyroStateData.x -= gyro_bias[0]; gyroStateData.x -= gyro_bias[0];