From cc99e6dc1fb027c2e75bfeaec06594d159789b5a Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Mon, 13 Apr 2015 16:21:53 +0200 Subject: attitude_estimator_q: Max gyro bias limiting --- src/modules/attitude_estimator_q/attitude_estimator_q_params.c | 1 + 1 file changed, 1 insertion(+) diff --git a/src/modules/attitude_estimator_q/attitude_estimator_q_params.c b/src/modules/attitude_estimator_q/attitude_estimator_q_params.c index d674c3ad6..35ffe538a 100644 --- a/src/modules/attitude_estimator_q/attitude_estimator_q_params.c +++ b/src/modules/attitude_estimator_q/attitude_estimator_q_params.c @@ -46,3 +46,4 @@ PARAM_DEFINE_FLOAT(ATT_W_MAG, 0.1f); PARAM_DEFINE_FLOAT(ATT_W_GYRO_BIAS, 0.1f); PARAM_DEFINE_FLOAT(ATT_MAG_DECL, 0.0f); ///< magnetic declination, in degrees PARAM_DEFINE_INT32(ATT_ACC_COMP, 2); ///< acceleration compensation +PARAM_DEFINE_FLOAT(ATT_BIAS_MAX, 0.05f); ///< gyro bias limit, rad/s -- cgit v1.2.3