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gyro calibration: speedup from 20s to 1s

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It's not required to take that many samples, 1 second is enough.
This is confirmed by looking at the standard deviation over 10 calibrations:
it is in the same order as with 20 seconds (the effect of temperature
increase has a bigger effect).
This commit is contained in:
Beat Küng
2019-11-28 18:20:35 +01:00
committed by Daniel Agar
parent 133a6e38cc
commit 1cbcb445ab
1 changed files with 1 additions and 1 deletions
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src/modules/commander/gyro_calibration.cpp
+1 -1
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@@ -78,7 +78,7 @@ static calibrate_return gyro_calibration_worker(int cancel_sub, void *data)
{
gyro_worker_data_t *worker_data = (gyro_worker_data_t *)(data);
unsigned calibration_counter[max_gyros] = { 0 }, slow_count = 0;
const unsigned calibration_count = 5000;
const unsigned calibration_count = 250;
sensor_gyro_s gyro_report;
unsigned poll_errcount = 0;