Bremen Team - Hangar / SML2

Implemented first Hangar-Service

Dependencies:   CalibrateMagneto QuaternionMath

Fork of SML2 by TobyRich GmbH

Diff: SensorFusion.cpp

Revision:
39:1fa9c0e1ffde
Parent:
37:63d355f2cf6a
Child:
40:8e852115fe55
Child:
41:731e3cfac19b
--- a/SensorFusion.cpp	Wed May 13 13:41:57 2015 +0000
+++ b/SensorFusion.cpp	Tue May 19 14:18:30 2015 +0000
@@ -4,14 +4,14 @@
 #include "Logger.h"
 
 #include "Utils.h"
-#define NINEAXIS
+#define SIXAXIS
 
 SensorFusion::SensorFusion(I2C &i2c) :
     delegate(&defaultDelegate),
     accel(i2c), gyro(i2c), magneto(i2c),
     q(1, 0, 0, 0), // output quaternion
     deltat(0.010), // sec
-    beta(0.5), // correction gain
+    beta(0.3), // correction gain
     fused(0, 0, 0)
 {
 }