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attitude_estimator_q: don't filter output rates

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Since we're already filtering the incoming gyro and accel sensor
signals, we don't need to filter the output rates again.
This commit is contained in:
Julian Oes 2016-08-03 17:42:08 +02:00 committed by Lorenz Meier
parent ea9c8b968a
commit 00d4eae373
1 changed files with 3 additions and 11 deletions
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14
src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
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@ -173,11 +173,6 @@ private:
Vector<3> _vel_prev;
Vector<3> _pos_acc;
/* Low pass filter for attitude rates */
math::LowPassFilter2p _lp_roll_rate;
math::LowPassFilter2p _lp_pitch_rate;
math::LowPassFilter2p _lp_yaw_rate;
/* Low pass filter for accel/gyro */
math::LowPassFilter2p _lp_accel_x;
math::LowPassFilter2p _lp_accel_y;
@ -213,9 +208,6 @@ private:
AttitudeEstimatorQ::AttitudeEstimatorQ() :
_vel_prev(0, 0, 0),
_pos_acc(0, 0, 0),
_lp_roll_rate(250.0f, 30.0f),
_lp_pitch_rate(250.0f, 30.0f),
_lp_yaw_rate(250.0f, 20.0f),
_lp_accel_x(250.0f, 30.0f),
_lp_accel_y(250.0f, 30.0f),
_lp_accel_z(250.0f, 30.0f),
@ -519,11 +511,11 @@ void AttitudeEstimatorQ::task_main()
ctrl_state.z_acc = _accel(2);
/* attitude rates for control state */
ctrl_state.roll_rate = _lp_roll_rate.apply(_rates(0));
ctrl_state.roll_rate = _rates(0);
ctrl_state.pitch_rate = _lp_pitch_rate.apply(_rates(1));
ctrl_state.pitch_rate = _rates(1);
ctrl_state.yaw_rate = _lp_yaw_rate.apply(_rates(2));
ctrl_state.yaw_rate = _rates(2);
ctrl_state.airspeed_valid = false;