sensors: move gyro filtering to sensors/vehicle_angular_velocity

mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-27 07:40:34 +08:00

- gyro filtering (low-pass and notch) only performed on primary gyro in `sensors/vehicle_angular_velocity` instead of every gyro in `PX4Gyroscope`
 - sample rate is calculated from actual updates (the fixed value was slightly wrong in many cases, and very wrong in a few)
 - In the FIFO case the array is now averaged and published in `sensor_gyro` for filtering downstream. I'll update this in the future to use the full FIFO array (if available), but right now it should be fine.

This commit is contained in:

Daniel Agar

2020-01-27 10:05:33 -05:00

committed by

GitHub

parent 0d2e5f1c50

commit 24f0c2d72a

22 changed files with 355 additions and 258 deletions

									
										src/modules/simulator/simulator.h
									
		-1
	
												View File
												
				@@ -104,7 +104,6 @@ private:

					Simulator() : ModuleParams(nullptr)

					{

						_px4_accel.set_sample_rate(250);

						_px4_gyro.set_sample_rate(250);

					}

					~Simulator()