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attitude_estimator_q: Max gyro bias limiting

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Anton Babushkin
2015-04-13 16:21:53 +02:00
parent 3b89a2533f
commit cc99e6dc1f
1 changed files with 1 additions and 0 deletions
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src/modules/attitude_estimator_q/attitude_estimator_q_params.c
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@@ -46,3 +46,4 @@ PARAM_DEFINE_FLOAT(ATT_W_MAG, 0.1f);
PARAM_DEFINE_FLOAT(ATT_W_GYRO_BIAS, 0.1f); PARAM_DEFINE_FLOAT(ATT_W_GYRO_BIAS, 0.1f);
PARAM_DEFINE_FLOAT(ATT_MAG_DECL, 0.0f); ///< magnetic declination, in degrees PARAM_DEFINE_FLOAT(ATT_MAG_DECL, 0.0f); ///< magnetic declination, in degrees
PARAM_DEFINE_INT32(ATT_ACC_COMP, 2); ///< acceleration compensation PARAM_DEFINE_INT32(ATT_ACC_COMP, 2); ///< acceleration compensation
PARAM_DEFINE_FLOAT(ATT_BIAS_MAX, 0.05f); ///< gyro bias limit, rad/s