From b1b74c70b4012825439fb472d1253661b44f1d6e Mon Sep 17 00:00:00 2001 From: Mikhail Grushinskiy Date: Sat, 7 Sep 2024 21:32:47 -0400 Subject: [PATCH] Update bbn_wave_freq_m5atomS3.ino --- bbn_wave_freq_m5atomS3/bbn_wave_freq_m5atomS3.ino | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/bbn_wave_freq_m5atomS3/bbn_wave_freq_m5atomS3.ino b/bbn_wave_freq_m5atomS3/bbn_wave_freq_m5atomS3.ino index 7549fca..171c32a 100644 --- a/bbn_wave_freq_m5atomS3/bbn_wave_freq_m5atomS3.ino +++ b/bbn_wave_freq_m5atomS3/bbn_wave_freq_m5atomS3.ino @@ -296,7 +296,7 @@ void setup(void) { mahony_AHRS_init(&mahony, twoKp, twoKi); float omega_init = 0.03 * (2 * PI); // init frequency Hz * 2 * PI (start converging from omega_init/2) - float k_gain = 200.0; // Aranovskiy gain + float k_gain = 200.0; // Aranovskiy gain. Higher value will give faster convergence, but too high will overflow float float t_0 = 0.0; float x1_0 = 0.0; float theta_0 = - (omega_init * omega_init / 4.0);