BE@R lab / Mbed 2 deprecated MPU9250AHRS-PGear_Stabilizer

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Dependencies:   BEAR_Protocol mbed Stabilizer iSerial

Fork of MPU9250AHRS by BE@R lab

Diff: MPU9250.h

Revision:
6:fa132fd505ce
Parent:
5:d31487b34216
--- a/MPU9250.h	Fri Dec 18 21:21:36 2015 +0000
+++ b/MPU9250.h	Tue Dec 22 12:50:15 2015 +0000
@@ -216,8 +216,9 @@
 float beta = sqrt(3.0f / 4.0f) * GyroMeasError;  // compute beta
 float GyroMeasDrift = PI * (1.0f / 180.0f);      // gyroscope measurement drift in rad/s/s (start at 0.0 deg/s/s)
 float zeta = sqrt(3.0f / 4.0f) * GyroMeasDrift;  // compute zeta, the other free parameter in the Madgwick scheme usually set to a small or zero value
-#define Kp 5.1f * 5.0f // these are the free parameters in the Mahony filter and fusion scheme, Kp for proportional feedback, Ki for integral
-#define Ki 1.0f
+#define Kp 25.0f // these are the free parameters in the Mahony filter and fusion scheme, Kp for proportional feedback, Ki for integral
+//#define Kp 5.0f
+#define Ki 0.01f
 
 
 float pitch, yaw, roll;