From bcddbf6a679373213a5247156e4d7cc5ca0bba74 Mon Sep 17 00:00:00 2001 From: Laurens Valk Date: Thu, 19 Sep 2024 10:51:03 +0200 Subject: [PATCH] pbio/sys/storage_settings: Reduce default gyro threshold. See https://github.com/pybricks/support/issues/1105 --- CHANGELOG.md | 3 +++ lib/pbio/sys/storage_settings.c | 4 ++-- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index ac18ec8f6..5b58aaef2 100644 --- 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 index a26039260..90d45fb45 100644 --- 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 }