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Continuous gyro bias estimation (#17)

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Estimate gyro bias continuously instead of calibrating the gyro at startup.
This commit is contained in:
Oleg Kalachev
2025-03-29 12:21:40 +03:00
committed by GitHub
parent 117ae42d1b
commit 66a43ab246
7 changed files with 11 additions and 24 deletions
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flix/estimate.ino
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@@ -29,7 +29,7 @@ void applyGyro() {
void applyAcc() {
// test should we apply accelerometer gravity correction
float accNorm = acc.norm();
bool landed = !motorsActive() && abs(accNorm - ONE_G) < ONE_G * 0.1f;
landed = !motorsActive() && abs(accNorm - ONE_G) < ONE_G * 0.1f;
if (!landed) return;