aleks/flix
1
0
Fork 0
mirror of https://github.com/okalachev/flix.git synced 2026-01-12 05:57:52 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

7
flix/estimate.ino
View File

@@ -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));