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fix level horizon feature:

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allow attitude to settle for a while if changes to the board rotation
parameters are done
This commit is contained in:
tumbili
2016-01-20 13:46:50 +01:00
parent 619548b10a
commit afb01e6d9a
1 changed files with 2 additions and 1 deletions
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src/modules/commander/accelerometer_calibration.cpp
+2 -1
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@@ -595,7 +595,8 @@ int do_level_calibration(int mavlink_fd) {
param_get(pitch_offset_handle, &pitch_offset_current);
param_get(board_rot_handle, &board_rot_current);
if (board_rot_current == 0) {
// give attitude some time to settle if there have been changes to the board rotation parameters
if (board_rot_current == 0 && fabsf(roll_offset_current) < FLT_EPSILON && fabsf(pitch_offset_current) < FLT_EPSILON ) {
settle_time = 0;
}