_P_gain implementation

[Jurgenvz]

Hi,

In the Fast Rotations by William Premerlani it is explained how to deal with fast rotations. One of the proposals is to create a variable proportional feedback gain (see pages 8-9). However, this does not match with the implementation in the file AP_AHRS_DCM.cpp (lines 266-288) as the values 50 and 500 are converted to degrees per second rather than to radians per second. The values 50 and 500 given in the Fast Rotations document are already in degrees per second. And as spin_rate is in radians per second, it should be compared to a constant with unit radians per second. I would expect that it should be ToRad instead of ToDeg for all three instances in _P_gain.

Is this a mistake or is this just an implementation using different values?

[pchickey]

Hi,
This github repository is a fork of the old (google code) ardupilot-mega repository, kept around for archival purposes. The ardupilot project currently lives over at http://github.com/diydrones/ardupilot - please file bugs there, or in this case, you may want to instead make a post to the drones-discuss list.
Pat