Browse Source

Hotfix: Made accel calibration a bit more forgiving about motion threshold

sbg
Lorenz Meier 12 years ago
parent
commit
dc5bcdda76
  1. 4
      src/modules/commander/accelerometer_calibration.c

4
src/modules/commander/accelerometer_calibration.c

@ -268,8 +268,8 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) { @@ -268,8 +268,8 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) {
float accel_disp[3] = { 0.0f, 0.0f, 0.0f };
/* EMA time constant in seconds*/
float ema_len = 0.2f;
/* set "still" threshold to 0.1 m/s^2 */
float still_thr2 = pow(0.1f, 2);
/* set "still" threshold to 0.25 m/s^2 */
float still_thr2 = pow(0.25f, 2);
/* set accel error threshold to 5m/s^2 */
float accel_err_thr = 5.0f;
/* still time required in us */

Loading…
Cancel
Save