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[conf] enable gravity norm heuristic in quadrotor example

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This commit is contained in:
Felix Ruess
2013-02-14 17:54:15 +01:00
parent 1b8735631c
commit 5764ff1675
1 changed files with 4 additions and 2 deletions
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conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
+4 -2
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@@ -16,7 +16,7 @@
<define name="RADIO_MODE" value="RADIO_AUX1"/>
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
</subsystem>
<!-- MPU600 is configured to output data at 500Hz -->
<!-- MPU6000 is configured to output data at 500Hz -->
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
</target>
@@ -35,7 +35,9 @@
<subsystem name="imu" type="aspirin_v2.1"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat">
<define name="AHRS_GRAVITY_UPDATE_NORM_HEURISTIC" value="TRUE"/>
</subsystem>
<subsystem name="ins"/>
</firmware>