Reduce angle drift by adding level correction to the estimator

Leverage a priori knowledge that the drone's average attitude is level. Explanation: https://t.me/opensourcequadcopter/158.
2026-06-28 05:56:44 +00:00 · 2026-05-05 21:27:47 +03:00
parent dbf24ea611
commit bd270db493
3 changed files with 13 additions and 0 deletions
@@ -73,6 +73,7 @@ Parameter parameters[] = {
 	{"IMU_GYRO_BIAS_A", &gyroBiasFilter.alpha},
 	// estimate
 	{"EST_ACC_WEIGHT", &accWeight},
+	{"EST_LVL_WEIGHT", &levelWeight},
 	{"EST_RATES_LPF_A", &ratesFilter.alpha},
 	// motors
 	{"MOT_PIN_FL", &motorPins[MOTOR_FRONT_LEFT], setupMotors},