From 3b2d203f0fb2f420388406f05954e59e8eae6583 Mon Sep 17 00:00:00 2001
From: rmackay9 <rmackay9@yahoo.com>
Date: Mon, 30 Apr 2012 14:34:15 +0900
Subject: [PATCH] AP_AHRS: updated default AHRS_YAW_P to 0.2 (was 0.4)
This reduces the compass's default authority over the yaw direction by half
---
libraries/AP_AHRS/AP_AHRS_DCM.h | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.h b/libraries/AP_AHRS/AP_AHRS_DCM.h
index 97c163d1d..d4bb46f47 100644
--- a/libraries/AP_AHRS/AP_AHRS_DCM.h
+++ b/libraries/AP_AHRS/AP_AHRS_DCM.h
@@ -17,7 +17,7 @@ public:
AP_AHRS_DCM(IMU *imu, GPS *&gps) : AP_AHRS(imu, gps)
{
_kp_roll_pitch = 0.13;
- _kp_yaw.set(0.4);
+ _kp_yaw.set(0.2);
_dcm_matrix(Vector3f(1, 0, 0),
Vector3f(0, 1, 0),
Vector3f(0, 0, 1));
--
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