changed deafult value

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 |
 
 ---
 

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

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;