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Change the magKp term (hardcoded still) for revo complimentary filter so it

tracks magnetic north when homelocation is set.
This commit is contained in:
James Cotton 2012-04-22 19:01:41 -05:00
parent 2890fcdc9f
commit fb53d5621a

View File

@ -243,7 +243,7 @@ float qmag;
float attitudeDt;
float mag_err[3];
float magKi = 0.000001f;
float magKp = 0.0001f;
float magKp = 0.01f;
static int32_t updateAttitudeComplimentary(bool first_run)
{
@ -294,14 +294,17 @@ static int32_t updateAttitudeComplimentary(bool first_run)
attitudeSettings.AccelKp = 1;
attitudeSettings.AccelKi = 0.9;
attitudeSettings.YawBiasRate = 0.23;
magKp = 1;
} else if ((attitudeSettings.ZeroDuringArming == ATTITUDESETTINGS_ZERODURINGARMING_TRUE) && (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMING)) {
attitudeSettings.AccelKp = 1;
attitudeSettings.AccelKi = 0.9;
attitudeSettings.YawBiasRate = 0.23;
magKp = 1;
init = 0;
} else if (init == 0) {
// Reload settings (all the rates)
AttitudeSettingsGet(&attitudeSettings);
magKp = 0.01f;
init = 1;
}