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fixed cli version from pre-3 stuff

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increased gyro complementary filter factor to 500 to reduce acc influence (should hopefully fix random walk stuff?)
fixed a bug in servotilt stuff (maybe?)

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@150 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-05-01 00:07:22 +00:00
parent f3a4e9f731
commit 26b2031e24
6 changed files with 4992 additions and 5015 deletions
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3
src/imu.c
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@ -118,7 +118,8 @@ void computeIMU(void)
/* Set the Gyro Weight for Gyro/Acc complementary filter */
/* Increasing this value would reduce and delay Acc influence on the output of the filter*/
/* Default WMC value: 300*/
#define GYR_CMPF_FACTOR 310.0f
// #define GYR_CMPF_FACTOR 310.0f
#define GYR_CMPF_FACTOR 500.0f
/* Set the Gyro Weight for Gyro/Magnetometer complementary filter */
/* Increasing this value would reduce and delay Magnetometer influence on the output of the filter*/