From c9a453c3409cab566224b75e93beafc89a518699 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 10 Sep 2012 14:53:23 +0200 Subject: [PATCH] Tuned filter gains, still suboptimal, but improved --- apps/px4/attitude_estimator_bm/attitude_bm.c | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/apps/px4/attitude_estimator_bm/attitude_bm.c b/apps/px4/attitude_estimator_bm/attitude_bm.c index 8face5aea5..6921db3757 100644 --- a/apps/px4/attitude_estimator_bm/attitude_bm.c +++ b/apps/px4/attitude_estimator_bm/attitude_bm.c @@ -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.