Cyrill Zoller / Mahony_Algorithm

..

Diff: MahonyAHRS.cpp

Revision:
1:0d456c561eab
Parent:
0:da9dac34fd93
--- a/MahonyAHRS.cpp	Thu Aug 13 22:12:39 2015 +0000
+++ b/MahonyAHRS.cpp	Wed Apr 29 10:53:03 2020 +0000
@@ -8,8 +8,8 @@
 // Definitions
 
 //#define sampleFreq  512.0f      // sample frequency in Hz
-#define twoKpDef    (2.0f * 0.5f)   // 2 * proportional gain
-#define twoKiDef    (2.0f * 0.0f)   // 2 * integral gain
+#define twoKpDef    (2.0f * 50.0f)   // 2 * proportional gain
+#define twoKiDef    (2.0f * 0.25f)   // 2 * integral gain
 #define PI     3.14159265359f
 
 //---------------------------------------------------------------------------------------------------