_pitch_int_node->setDoubleValue(pitch);
// add in a gyro underspin "error" if gyro is spinning too slowly
- const double spin_thresh = 0.4;
+ const double spin_thresh = 0.8;
const double max_roll_error = 40.0;
- const double max_pitch_error = 15.0;
+ const double max_pitch_error = 12.0;
double roll_error;
double pitch_error;
if ( spin <= spin_thresh ) {
_roll_out_node->setDoubleValue(roll + roll_error);
_pitch_out_node->setDoubleValue(pitch + pitch_error);
-
}
// end of attitude_indicator.cxx