diff options
Diffstat (limited to 'apps/px4/attitude_estimator_bm/attitude_bm.c')
| -rw-r--r-- | apps/px4/attitude_estimator_bm/attitude_bm.c | 18 |
1 files changed, 9 insertions, 9 deletions
diff --git a/apps/px4/attitude_estimator_bm/attitude_bm.c b/apps/px4/attitude_estimator_bm/attitude_bm.c index 29908ddd5..8face5aea 100644 --- a/apps/px4/attitude_estimator_bm/attitude_bm.c +++ b/apps/px4/attitude_estimator_bm/attitude_bm.c @@ -147,18 +147,18 @@ void attitude_blackmagic_init(void) // }; static m_elem kal_gain[12 * 9] = { - 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, + 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, 0.0000f , +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 , 0.6f , 0 , 0, - 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0.6f , 0, - 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0.6f + 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 }; //offset update only correct if not upside down. |