Algorithm question in attitude_estimator_q_main.cpp

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1

Hello,
I have a question about the algorithm in attitude q estimator.
In attitude_estimator_q_main.cpp attached here:

		float gainMult = 1.0f;
	const float fifty_dps = 0.873f;

	if (spinRate > fifty_dps) {
		gainMult = fmin(spinRate / fifty_dps, 10.0f);
	}

What is fifty_dps and gainMult used for? Any theoretic idea behind this?
Thank you.

2

Or just when spinrate is grater than 50 degree per second, then magnify the correction gain?

3

Here is Bill Premerlani’s paper from which this was taken: https://www.dropbox.com/s/zae23dr9ky8agiv/fastRotations.pdf?dl=0

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