pbio/sys/storage_settings: Reduce default gyro threshold.

See pybricks/support#1105
pybricks · Sep 19, 2024 · bcddbf6 · bcddbf6
1 parent f298a37
commit bcddbf6
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -37,6 +37,8 @@
   light. See ([support#1716]) and ([pybricks-micropython#261]).
 - Allow gyro calibration only while all motors are coasting ([support#1840]) to
   prevent recalibration during very steady moves.
+- Reduced default angular velocity stationary threshold from an undocumented
+  5 deg/s to 3 deg/s to reduce unwanted calibration while moving  ([support#1105]). 
 
 ### Fixed
 - Fixed not able to connect to new Technic Move hub with `LWP3Device()`.
@@ -52,6 +54,7 @@
 [pybricks-micropython#253]: https://github.com/pybricks/pybricks-micropython/pull/253
 [pybricks-micropython#254]: https://github.com/pybricks/pybricks-micropython/pull/254
 [pybricks-micropython#261]: https://github.com/pybricks/pybricks-micropython/pull/261
+[support#1105]: https://github.com/pybricks/support/issues/1105
 [support#1429]: https://github.com/pybricks/support/issues/1429
 [support#1460]: https://github.com/pybricks/support/issues/1460
 [support#1615]: https://github.com/pybricks/support/issues/1615

diff --git a/lib/pbio/sys/storage_settings.c b/lib/pbio/sys/storage_settings.c
@@ -29,8 +29,8 @@ void pbsys_storage_settings_set_defaults(pbsys_storage_settings_t *settings) {
     settings->flags |= PBSYS_STORAGE_SETTINGS_FLAGS_BLUETOOTH_ENABLED;
     #endif
     #if PBIO_CONFIG_IMU
-    settings->gyro_stationary_threshold = 5;
-    settings->accel_stationary_threshold = 2500;
+    settings->gyro_stationary_threshold = 3.0f;
+    settings->accel_stationary_threshold = 2500.0f;
     settings->heading_correction = 360.0f;
     #endif // PBIO_CONFIG_IMU
 }