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Tuned filter gains, still suboptimal, but improved

sbg
Lorenz Meier 13 years ago
parent
b1767480d2
commit
c9a453c340
1 changed files with 6 additions and 6 deletions
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  1. 12
      apps/px4/attitude_estimator_bm/attitude_bm.c

12
apps/px4/attitude_estimator_bm/attitude_bm.c
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@ -150,15 +150,15 @@ void attitude_blackmagic_init(void) @@ -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.

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