From 3c26ca99a07eb6957d894295133dc9cb0f4999a5 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 29 Nov 2015 18:06:39 +0100 Subject: [PATCH] Q estimator: Increase phase margin --- .../attitude_estimator_q/attitude_estimator_q_main.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp index 64994a7956..a8d506611f 100644 --- a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp +++ b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp @@ -205,9 +205,9 @@ AttitudeEstimatorQ::AttitudeEstimatorQ() : _voter_gyro(3), _voter_accel(3), _voter_mag(3), - _lp_roll_rate(250.0f, 18.0f), - _lp_pitch_rate(250.0f, 18.0f), - _lp_yaw_rate(250.0f, 10.0f) + _lp_roll_rate(250.0f, 30.0f), + _lp_pitch_rate(250.0f, 30.0f), + _lp_yaw_rate(250.0f, 20.0f) { _voter_mag.set_timeout(200000);