From 7cd89520cc8846e5ca00f251311e6c4a50b1f7e5 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 29 Aug 2012 15:53:11 +0200 Subject: More black magic put into the attitude estimation - works nicely now --- apps/px4/attitude_estimator_bm/attitude_bm.c | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) (limited to 'apps/px4/attitude_estimator_bm/attitude_bm.c') 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, -- cgit v1.2.3