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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-10 14:53:23 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-10 14:53:23 +0200 |
| commit | c9a453c3409cab566224b75e93beafc89a518699 (patch) | |
| tree | da1ec99a945ea32fc7852ebadf3ed581ecd19635 /apps/px4 | |
| parent | b1767480d2a0930c60ca59b1b047a9018663556b (diff) | |
| download | px4-firmware-c9a453c3409cab566224b75e93beafc89a518699.tar.gz px4-firmware-c9a453c3409cab566224b75e93beafc89a518699.tar.bz2 px4-firmware-c9a453c3409cab566224b75e93beafc89a518699.zip | |
Tuned filter gains, still suboptimal, but improved
Diffstat (limited to 'apps/px4')
| -rw-r--r-- | apps/px4/attitude_estimator_bm/attitude_bm.c | 12 |
1 files changed, 6 insertions, 6 deletions
diff --git a/apps/px4/attitude_estimator_bm/attitude_bm.c b/apps/px4/attitude_estimator_bm/attitude_bm.c index 8face5aea..6921db375 100644 --- a/apps/px4/attitude_estimator_bm/attitude_bm.c +++ b/apps/px4/attitude_estimator_bm/attitude_bm.c @@ -150,15 +150,15 @@ void attitude_blackmagic_init(void) 0.0007f , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0, 0 , 0.0007f , 0 , 0 , 0 , 0 , 0 , 0 , 0, 0 , 0 , 0.0007f , 0 , 0 , 0 , 0 , 0 , 0, - 0 , 0 , 0 , 0.01f, 0 , 0 , 0 , 0 , 0, - 0 , 0 , 0 , 0 , 0.01f, 0 , 0 , 0 , 0, - 0 , 0 , 0 , 0 , 0 , 0.01f, 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, 0.0000f , +0.00002f, 0 , 0 , 0, 0, 0, 0 , 0, -0.00002f, 0 , 0 , 0 , 0, 0, 0, 0, 0, 0, 0 , 0 , 0, 0, 0, 0, 0, 0, - 0 , 0 , 0 , 0 , 0 , 0 , 0.4f , 0 , 0, - 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0.4f , 0, - 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0.4f + 0 , 0 , 0 , 0 , 0 , 0 , 0.7f , 0 , 0, + 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0.7f , 0, + 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0.7f }; //offset update only correct if not upside down. |