aleks/flix
1
0
Fork 0
mirror of https://github.com/okalachev/flix.git synced 2025-07-27 09:39:33 +00:00
Code Issues Packages Projects Releases Wiki Activity

Remove dt multiplier from acc correction and increase acc weight

Browse Source 
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
flix/estimate.ino
View File

@ -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));