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Revision: 9a5e7234c619
Author:  Andrew Tridgell <>
Date:  Apr 15, 2012
Committer:  Andrew Tridgell <>
Commit Date:  Apr 16, 2012
Review scores: No one has yet scored this revision.

Log message

DCM: buffer omega_I changes over 10 seconds

this buffers up _omega_I changes in _omega_I_sum over a period of 10
seconds, applying the slope limit only when _omega_I_sum is
transferred to _omega_I.

The result is a huge improvement in the ability of _omega_I to track
gyro drift over the long term.

Affected files

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