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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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flix/flix.ino
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@@ -28,8 +28,9 @@ float dt; // time delta from previous step, s
float loopFreq; // loop frequency, Hz
int16_t channels[16]; // raw rc channels
float controls[RC_CHANNELS]; // normalized controls in range [-1..1] ([0..1] for throttle)
Vector rates; // angular rates, rad/s
Vector gyro; // gyroscope data
Vector acc; // accelerometer data, m/s/s
Vector rates; // filtered angular rates, rad/s
Quaternion attitude; // estimated attitude
float motors[4]; // normalized motors thrust in range [-1..1]