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Transfer gyro low pass filter to estimate.ino

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Separate raw gyro data and filtered rates to different variables
This commit is contained in:
Oleg Kalachev
2024-04-20 14:52:01 +03:00
parent 24e8569905
commit 41a9a95747
8 changed files with 21 additions and 15 deletions
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5
docs/firmware.md
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@@ -8,9 +8,10 @@ The main loop is running at 1000 Hz. All the dataflow is happening through globa
* `t` *(float)* — current step time, *s*.
* `dt` *(float)* — time delta between the current and previous steps, *s*.
* `rates` *(Vector)* — angular rates from the gyroscope, *rad/s*.
* `gyro` *(Vector)* — data from the gyroscope, *rad/s*.
* `acc` *(Vector)* — acceleration data from the accelerometer, *m/s<sup>2</sup>*.
* `attitude` *(Quaternion)* — current estimated attitude (orientation) of drone.
* `rates` *(Vector)* — filtered angular rates, *rad/s*.
* `attitude` *(Quaternion)* — estimated attitude (orientation) of drone.
* `controls` *(float[])* — user control inputs from the RC, normalized to [-1, 1] range.
* `motors` *(float[])* — motor outputs, normalized to [-1, 1] range; reverse rotation is possible.