EKF increase delta velocity process noise per axis if clipping (#663)

2026-10-26 23:03:33 +08:00 · 2020-04-08 08:51:51 +10:00
parent d6b6276cdc
commit 47624a0f02
5 changed files with 25 additions and 1 deletions
@@ -93,6 +93,7 @@ struct imuSample {
 	float       delta_ang_dt;	///< delta angle integration period (sec)
 	float       delta_vel_dt;	///< delta velocity integration period (sec)
 	uint64_t    time_us;		///< timestamp of the measurement (uSec)
+	bool        delta_vel_clipping[3]{}; ///< true (per axis) if this sample contained any accelerometer clipping
 };

 struct gpsSample {