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2 Commits

Author SHA1 Message Date
peabody124
314a2fcf00 flight/AHRS: Make the 13 state INS default again, the accel bias drift can be a
little aggressive.  Also increased the drift rate of the gyro bias per Sambas'
testing (thanks) although not to the levels required for flying through 40 deg
C transitions.

Made the dump_ekf function handle both numbers of states

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2282 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-24 19:38:54 +00:00
peabody124
68c656a724 AHRS: Add back the old 13 state INS if wanted and also code for tracking accel
bias as gravity vector facing down (bad for planes) which is diabled by
default.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2232 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-13 15:15:50 +00:00