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Remove dt multiplier from acc correction and increase acc weight

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More classical complementary filter implementation
Increase effective accelerometer weight for faster convergence
This commit is contained in:
Oleg Kalachev 2025-02-28 00:40:22 +03:00
parent e66f6563a5
commit bda44fca02
1 changed files with 2 additions and 2 deletions
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4
flix/estimate.ino
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@ -8,7 +8,7 @@
#include "lpf.h" #include "lpf.h"
#include "util.h" #include "util.h"
#define WEIGHT_ACC 0.5f #define WEIGHT_ACC 0.003
#define RATES_LFP_ALPHA 0.2 // cutoff frequency ~ 40 Hz #define RATES_LFP_ALPHA 0.2 // cutoff frequency ~ 40 Hz
LowPassFilter<Vector> ratesFilter(RATES_LFP_ALPHA); LowPassFilter<Vector> ratesFilter(RATES_LFP_ALPHA);
@ -35,7 +35,7 @@ void applyAcc() {
// calculate accelerometer correction // calculate accelerometer correction
Vector up = attitude.rotateVector(Vector(0, 0, 1)); 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 // apply correction
attitude = attitude.rotate(Quaternion::fromAngularRates(correction)); attitude = attitude.rotate(Quaternion::fromAngularRates(correction));