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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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2
gazebo/simulator.cpp
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@@ -64,7 +64,7 @@ public:
step();
// read imu
rates = flu2frd(imu->AngularVelocity());
gyro = flu2frd(imu->AngularVelocity());
acc = this->accFilter.update(flu2frd(imu->LinearAcceleration()));
// read rc