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Add parameter for configuring gyro bias lpf

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+ reset the filter on `reset` command
This commit is contained in:
Oleg Kalachev
2026-01-24 09:31:32 +03:00
parent 5b654e4d8e
commit 7ad3022798
3 changed files with 6 additions and 2 deletions
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3
flix/cli.ino
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@@ -6,6 +6,7 @@
#include "pid.h" #include "pid.h"
#include "vector.h" #include "vector.h"
#include "util.h" #include "util.h"
#include "lpf.h"
extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT; extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT;
extern const int RAW, ACRO, STAB, AUTO; extern const int RAW, ACRO, STAB, AUTO;
@@ -14,6 +15,7 @@ extern uint16_t channels[16];
extern float controlTime; extern float controlTime;
extern int mode; extern int mode;
extern bool armed; extern bool armed;
extern LowPassFilter<Vector> gyroBiasFilter;
const char* motd = const char* motd =
"\nWelcome to\n" "\nWelcome to\n"
@@ -178,6 +180,7 @@ void doCommand(String str, bool echo = false) {
#endif #endif
} else if (command == "reset") { } else if (command == "reset") {
attitude = Quaternion(); attitude = Quaternion();
gyroBiasFilter.reset();
} else if (command == "reboot") { } else if (command == "reboot") {
ESP.restart(); ESP.restart();
} else { } else {

4
flix/imu.ino
View File

@@ -19,6 +19,8 @@ Vector acc; // accelerometer output, m/s/s
Vector accBias; Vector accBias;
Vector accScale(1, 1, 1); Vector accScale(1, 1, 1);
LowPassFilter<Vector> gyroBiasFilter(0.001);
void setupIMU() { void setupIMU() {
print("Setup IMU\n"); print("Setup IMU\n");
imu.begin(); imu.begin();
@@ -50,8 +52,6 @@ void readIMU() {
void calibrateGyroOnce() { void calibrateGyroOnce() {
static Delay landedDelay(2); static Delay landedDelay(2);
if (!landedDelay.update(landed)) return; // calibrate only if definitely stationary if (!landedDelay.update(landed)) return; // calibrate only if definitely stationary
static LowPassFilter<Vector> gyroBiasFilter(0.001);
gyroBias = gyroBiasFilter.update(gyro); gyroBias = gyroBiasFilter.update(gyro);
} }

1
flix/parameters.ino
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@@ -59,6 +59,7 @@ Parameter parameters[] = {
{"IMU_ACC_SCALE_X", &accScale.x}, {"IMU_ACC_SCALE_X", &accScale.x},
{"IMU_ACC_SCALE_Y", &accScale.y}, {"IMU_ACC_SCALE_Y", &accScale.y},
{"IMU_ACC_SCALE_Z", &accScale.z}, {"IMU_ACC_SCALE_Z", &accScale.z},
{"IMU_GYRO_BIAS_A", &gyroBiasFilter.alpha},
// estimate // estimate
{"EST_ACC_WEIGHT", &accWeight}, {"EST_ACC_WEIGHT", &accWeight},
{"EST_RATES_LPF_A", &ratesFilter.alpha}, {"EST_RATES_LPF_A", &ratesFilter.alpha},