From f84f432ecf558a3b5717ecccdbb961368ac4211b Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Sat, 22 Nov 2014 13:25:23 +1100
Subject: [PATCH] AP_InertialSensor: allow gyro calibration to take up to 30
seconds
this gives time for the user time to get their battery hatches on and
hold the model steady. 5 seconds was just far too short
---
libraries/AP_InertialSensor/AP_InertialSensor.cpp | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index 1d8134048..45d0226dc 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -687,9 +687,9 @@ AP_InertialSensor::_init_gyro()
uint8_t num_converged = 0;
- // we try to get a good calibration estimate for up to 10 seconds
+ // we try to get a good calibration estimate for up to 30 seconds
// if the gyros are stable, we should get it in 1 second
- for (int16_t j = 0; j <= 20 && num_converged < num_gyros; j++) {
+ for (int16_t j = 0; j <= 30*4 && num_converged < num_gyros; j++) {
Vector3f gyro_sum[INS_MAX_INSTANCES], gyro_avg[INS_MAX_INSTANCES], gyro_diff[INS_MAX_INSTANCES];
float diff_norm[INS_MAX_INSTANCES];
uint8_t i;
--
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