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Tuned filter gains, still suboptimal, but improved

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This commit is contained in:
Lorenz Meier
2012-09-10 14:53:23 +02:00
parent b1767480d2
commit c9a453c340
1 changed files with 6 additions and 6 deletions
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apps/px4/attitude_estimator_bm/attitude_bm.c
+6 -6
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@@ -150,15 +150,15 @@ void attitude_blackmagic_init(void)
0.0007f , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0,
0 , 0.0007f , 0 , 0 , 0 , 0 , 0 , 0 , 0,
0 , 0 , 0.0007f , 0 , 0 , 0 , 0 , 0 , 0,
0 , 0 , 0 , 0.01f, 0 , 0 , 0 , 0 , 0,
0 , 0 , 0 , 0 , 0.01f, 0 , 0 , 0 , 0,
0 , 0 , 0 , 0 , 0 , 0.01f, 0 , 0 , 0,
0 , 0 , 0 , 0.015f, 0 , 0 , 0 , 0 , 0,
0 , 0 , 0 , 0 , 0.015f, 0 , 0 , 0 , 0,
0 , 0 , 0 , 0 , 0 , 0.015f, 0 , 0 , 0,
0.0000f , +0.00002f, 0 , 0 , 0, 0, 0, 0 , 0,
-0.00002f, 0 , 0 , 0 , 0, 0, 0, 0, 0,
0, 0 , 0 , 0, 0, 0, 0, 0, 0,
0 , 0 , 0 , 0 , 0 , 0 , 0.4f , 0 , 0,
0 , 0 , 0 , 0 , 0 , 0 , 0 , 0.4f , 0,
0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0.4f
0 , 0 , 0 , 0 , 0 , 0 , 0.7f , 0 , 0,
0 , 0 , 0 , 0 , 0 , 0 , 0 , 0.7f , 0,
0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0.7f
};
//offset update only correct if not upside down.