From 6d81900bc1c0c1dedca07ee05d6e1bcd65a86d2c Mon Sep 17 00:00:00 2001 From: shota Date: Mon, 10 Oct 2022 20:51:43 +0900 Subject: [PATCH] changed deafult value --- docs/Settings.md | 6 +++--- src/main/fc/settings.yaml | 6 +++--- src/main/flight/imu.c | 2 +- 3 files changed, 7 insertions(+), 7 deletions(-) diff --git a/docs/Settings.md b/docs/Settings.md index 9444bf96ae..894840bf30 100644 --- a/docs/Settings.md +++ b/docs/Settings.md @@ -1774,11 +1774,11 @@ If set to ON, Secondary IMU data will be used for Angle, Horizon and all other m ### imu_acc_ignore_rate -Total gyro rotation rate threshold [deg/s] to consider accelerometer trustworthy on airplanes +Total gyro rotation rate threshold [deg/s] before scaling to consider accelerometer trustworthy | Default | Min | Max | | --- | --- | --- | -| 0 | 0 | 30 | +| 15 | 0 | 30 | --- @@ -1788,7 +1788,7 @@ Half-width of the interval to gradually reduce accelerometer weight. Centered at | Default | Min | Max | | --- | --- | --- | -| 0 | 0 | 10 | +| 5 | 0 | 10 | --- diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml index 2371f27a77..3ffebdc4ee 100644 --- a/src/main/fc/settings.yaml +++ b/src/main/fc/settings.yaml @@ -1520,14 +1520,14 @@ groups: min: 0 max: 180 - name: imu_acc_ignore_rate - description: "Total gyro rotation rate threshold [deg/s] to consider accelerometer trustworthy on airplanes" - default_value: 0 + description: "Total gyro rotation rate threshold [deg/s] before scaling to consider accelerometer trustworthy" + default_value: 15 field: acc_ignore_rate min: 0 max: 30 - name: imu_acc_ignore_slope description: "Half-width of the interval to gradually reduce accelerometer weight. Centered at `imu_acc_ignore_rate` (exactly 50% weight)" - default_value: 0 + default_value: 5 field: acc_ignore_slope min: 0 max: 10 diff --git a/src/main/flight/imu.c b/src/main/flight/imu.c index aa0f902177..85299638ab 100644 --- a/src/main/flight/imu.c +++ b/src/main/flight/imu.c @@ -78,7 +78,7 @@ FILE_COMPILE_FOR_SPEED // http://gentlenav.googlecode.com/files/fastRotations.pdf #define SPIN_RATE_LIMIT 20 -#define MAX_ACC_NEARNESS 0.2 // 33% or G error soft-accepted (0.8-1.2G) +#define MAX_ACC_NEARNESS 0.2 // 20% or G error soft-accepted (0.8-1.2G) #define IMU_ROTATION_LPF 3 // Hz FASTRAM fpVector3_t imuMeasuredAccelBF; FASTRAM fpVector3_t imuMeasuredRotationBF;