From bda44fca0298b724e2566f0762736dd5fc8f4b87 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Fri, 28 Feb 2025 00:40:22 +0300
Subject: [PATCH] Remove dt multiplier from acc correction and increase acc
 weight More classical complementary filter implementation Increase effective
 accelerometer weight for faster convergence

---
 flix/estimate.ino | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/flix/estimate.ino b/flix/estimate.ino
index fa8c306..8bcdf97 100644
--- a/flix/estimate.ino
+++ b/flix/estimate.ino
@@ -8,7 +8,7 @@
 #include "lpf.h"
 #include "util.h"
 
-#define WEIGHT_ACC 0.5f
+#define WEIGHT_ACC 0.003
 #define RATES_LFP_ALPHA 0.2 // cutoff frequency ~ 40 Hz
 
 LowPassFilter<Vector> ratesFilter(RATES_LFP_ALPHA);
@@ -35,7 +35,7 @@ void applyAcc() {
 
 	// calculate accelerometer correction
 	Vector up = attitude.rotateVector(Vector(0, 0, 1));
-	Vector correction = Vector::angularRatesBetweenVectors(acc, up) * dt * WEIGHT_ACC;
+	Vector correction = Vector::angularRatesBetweenVectors(acc, up) * WEIGHT_ACC;
 
 	// apply correction
 	attitude = attitude.rotate(Quaternion::fromAngularRates(correction));