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Add generic Delay filter

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This commit is contained in:
Oleg Kalachev
2025-10-17 19:19:27 +03:00
parent 59c9ea8cb3
commit dc09459613
2 changed files with 23 additions and 3 deletions
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flix/imu.ino
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@@ -49,9 +49,8 @@ void rotateIMU(Vector& data) {
}
void calibrateGyroOnce() {
static float landedTime = 0;
landedTime = landed ? landedTime + dt : 0;
if (landedTime < 2) return; // calibrate only if definitely stationary
static Delay landedDelay(2);
if (!landedDelay.update(landed)) return; // calibrate only if definitely stationary
static LowPassFilter<Vector> gyroCalibrationFilter(0.001);
gyroBias = gyroCalibrationFilter.update(gyro);