From 4dadd888d8e8a10bda1ae1794e8cbcc71430d4a8 Mon Sep 17 00:00:00 2001
From: rmackay9 <rmackay9@yahoo.com>
Date: Mon, 16 Apr 2012 23:47:57 +0900
Subject: [PATCH] ArduCopter - CH6 Tuning - added AHRS_YAW_KP parameter as 30.
Now you can easily set the amount that the mag is used to correct the gyro
based yaw estimate in the DCM
---
ArduCopter/ArduCopter.pde | 4 ++++
ArduCopter/defines.h | 2 ++
2 files changed, 6 insertions(+)
diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index e477fdede..e29e588fa 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -2166,6 +2166,10 @@ static void tuning(){
g.pid_optflow_roll.kD(tuning_value);
g.pid_optflow_pitch.kD(tuning_value);
break;
+
+ case CH6_AHRS_YAW_KP:
+ ahrs._kp_yaw.set(tuning_value);
+ break;
}
}
diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h
index 12a722bc9..693f42987 100644
--- a/ArduCopter/defines.h
+++ b/ArduCopter/defines.h
@@ -184,6 +184,8 @@
#define CH6_LOITER_RATE_KI 28
#define CH6_LOITER_RATE_KD 23
+#define CH6_AHRS_YAW_KP 30
+
// nav byte mask
// -------------
--
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