From 52b2aacf287ae443d46c733830073d89058a7c86 Mon Sep 17 00:00:00 2001 From: Jason Short Date: Fri, 3 Aug 2012 11:08:52 -0700 Subject: [PATCH] AHRS DCM: FOrmatting --- libraries/AP_AHRS/AP_AHRS_DCM.h | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.h b/libraries/AP_AHRS/AP_AHRS_DCM.h index 6c4d8caa25..e833fe9976 100644 --- a/libraries/AP_AHRS/AP_AHRS_DCM.h +++ b/libraries/AP_AHRS/AP_AHRS_DCM.h @@ -20,8 +20,11 @@ public: // these are experimentally derived from the simulator // with large drift levels - _ki = 0.0087; + _ki = 0.0087; _ki_yaw = 0.01; + _kp.set(0.4); + _kp_yaw.set(0.4); + gps_gain.set(1.0); } // return the smoothed gyro vector corrected for drift