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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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8
flix/imu.ino
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@@ -36,11 +36,11 @@ void configureIMU() {
void readIMU() {
IMU.waitForData();
IMU.getGyro(rates.x, rates.y, rates.z);
IMU.getGyro(gyro.x, gyro.y, gyro.z);
IMU.getAccel(acc.x, acc.y, acc.z);
// apply scale and bias
acc = (acc - accBias) / accScale;
rates = rates - gyroBias;
gyro = gyro - gyroBias;
}
void calibrateGyro() {
@@ -51,8 +51,8 @@ void calibrateGyro() {
gyroBias = Vector(0, 0, 0);
for (int i = 0; i < samples; i++) {
IMU.waitForData();
IMU.getGyro(rates.x, rates.y, rates.z);
gyroBias = gyroBias + rates;
IMU.getGyro(gyro.x, gyro.y, gyro.z);
gyroBias = gyroBias + gyro;
}
gyroBias = gyroBias / samples;