Joseph Roberts / FreeIMU_external_magnetometer

Added external magnetometer functionality

Dependencies:   HMC58X31 MODI2C MPU6050 MS561101BA

Dependents:   Quadcopter_mk2

Fork of FreeIMU by Yifei Teng

Diff: FreeIMU.h

Revision:
9:a79af1283446
Parent:
6:6b1185b32814
Child:
13:21b275eeeda2
--- a/FreeIMU.h	Mon Dec 23 09:41:27 2013 +0000
+++ b/FreeIMU.h	Fri Jan 10 05:41:40 2014 +0000
@@ -106,8 +106,8 @@
 // HMC5843 address is fixed so don't bother to define it
 
 
-#define twoKpDef  (2.0f * 1.0f) // 2 * proportional gain
-#define twoKiDef  (2.0f * 0.6f) // 2 * integral gain
+#define twoKpDef  (2.0f * 3.0f) // 2 * proportional gain
+#define twoKiDef  (2.0f * 0.4f) // 2 * integral gain
 
 #ifndef cbi
 #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))