Discussions

hi developer
I have tuned the AHRS_YAW_P value to correct the heading drift.

I set this parameter to 0.4(the max value adviced).

I wanna know if it is OK when make AHRS_YAW_P more than 0.4.

The function of this parameter is the same as P controller for the yaw drift?

Sorry for my lazy.I am learning APM but now I can not understand the Sourcecode.

thanks for your help