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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-29 15:53:11 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-29 15:53:11 +0200 |
| commit | 7cd89520cc8846e5ca00f251311e6c4a50b1f7e5 (patch) | |
| tree | 87b373384315b8244edc88356cdc56324649e71f /apps/px4/attitude_estimator_bm/attitude_bm.c | |
| parent | 7d87f2b06e1b7ee71c132e84cfda263a5207e4d9 (diff) | |
| download | px4-firmware-7cd89520cc8846e5ca00f251311e6c4a50b1f7e5.tar.gz px4-firmware-7cd89520cc8846e5ca00f251311e6c4a50b1f7e5.tar.bz2 px4-firmware-7cd89520cc8846e5ca00f251311e6c4a50b1f7e5.zip | |
More black magic put into the attitude estimation - works nicely now
Diffstat (limited to 'apps/px4/attitude_estimator_bm/attitude_bm.c')
| -rw-r--r-- | apps/px4/attitude_estimator_bm/attitude_bm.c | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/apps/px4/attitude_estimator_bm/attitude_bm.c b/apps/px4/attitude_estimator_bm/attitude_bm.c index cb17a356d..29908ddd5 100644 --- a/apps/px4/attitude_estimator_bm/attitude_bm.c +++ b/apps/px4/attitude_estimator_bm/attitude_bm.c @@ -147,9 +147,9 @@ void attitude_blackmagic_init(void) // }; static m_elem kal_gain[12 * 9] = { - 0.0006f , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0, - 0 , 0.0006f , 0 , 0 , 0 , 0 , 0 , 0 , 0, - 0 , 0 , 0.0006f , 0 , 0 , 0 , 0 , 0 , 0, + 0.001f , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0, + 0 , 0.001f , 0 , 0 , 0 , 0 , 0 , 0 , 0, + 0 , 0 , 0.001f , 0 , 0 , 0 , 0 , 0 , 0, 0 , 0 , 0 , 0.015f, 0 , 0 , 0 , 0 , 0, 0 , 0 , 0 , 0 , 0.015f, 0 , 0 , 0 , 0, 0 , 0 , 0 , 0 , 0 , 0.015f, 0 , 0 , 0, |