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AngularAcceleration: explicitly disable filter when cutoff <= 0

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bresch
2021-11-17 16:02:49 +01:00
committed by Mathieu Bresciani
parent 4a14a8bc7f
commit 43fb076828
3 changed files with 28 additions and 7 deletions
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src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
+8 -2
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@@ -167,8 +167,14 @@ void VehicleAngularVelocity::ResetFilters()
_notch_filter_velocity[axis].reset(angular_velocity_uncalibrated(axis));
// angular acceleration low pass
_lp_filter_acceleration[axis].setCutoffFreq(_filter_sample_rate_hz, _param_imu_dgyro_cutoff.get());
_lp_filter_acceleration[axis].reset(angular_acceleration_uncalibrated(axis));
if ((_param_imu_dgyro_cutoff.get() > 0.f)
&& (_lp_filter_acceleration[axis].setCutoffFreq(_filter_sample_rate_hz, _param_imu_dgyro_cutoff.get()))) {
_lp_filter_acceleration[axis].reset(angular_acceleration_uncalibrated(axis));
} else {
// disable filtering
_lp_filter_acceleration[axis].setAlpha(1.f);
}
}
// force reset notch filters on any scale change