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Apply accelerometer in estimation only when we're landed and stable

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Accelerometer gives only motors specific force in flight, which makes
it useless to determine the current vertial
This commit is contained in:
Oleg Kalachev 2023-12-19 04:46:59 +03:00
parent 415f0e9ad5
commit 57e83040b8
1 changed files with 3 additions and 4 deletions
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7
flix/estimate.ino
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@ -29,10 +29,9 @@ void applyAcc()
{ {
// test should we apply accelerometer gravity correction // test should we apply accelerometer gravity correction
float accNorm = acc.norm(); float accNorm = acc.norm();
if (accNorm < ACC_MIN * ONE_G || accNorm > ACC_MAX * ONE_G) { bool landed = !motorsActive() && abs(accNorm - ONE_G) < ONE_G * 0.1f;
// use accelerometer only when we're not accelerating
return; if (!landed) return;
}
// calculate accelerometer correction // calculate accelerometer correction
Vector up = attitude.rotate(Vector(0, 0, -1)); Vector up = attitude.rotate(Vector(0, 0, -1));