attitude_estimator_q: Max gyro bias limiting

10 years ago · cc99e6dc1f
1 changed files with 1 additions and 0 deletions
--- 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);
				@@ -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