fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-28 06:23:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

AlphaFilter: merge with PX4 implementation

Browse Source 
I made a separate implementation of the same filter for PX4. Now
that I know it's duplicate I merge the two into one and reuse it.
This commit is contained in:
Matthias Grob
2020-04-20 09:30:07 +02:00
committed by Mathieu Bresciani
parent 1e033c4719
commit 65a4ca9d65
5 changed files with 142 additions and 44 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/ekf.h
+3 -3
View File
@@ -458,11 +458,11 @@ private:
bool _is_first_imu_sample{true};
uint32_t _baro_counter{0}; ///< number of baro samples read during initialisation
uint32_t _mag_counter{0}; ///< number of magnetometer samples read during initialisation
AlphaFilterVector3f _accel_lpf; ///< filtered accelerometer measurement used to align tilt (m/s/s)
AlphaFilterVector3f _gyro_lpf; ///< filtered gyro measurement used for alignment excessive movement check (rad/sec)
AlphaFilter<Vector3f> _accel_lpf; ///< filtered accelerometer measurement used to align tilt (m/s/s)
AlphaFilter<Vector3f> _gyro_lpf; ///< filtered gyro measurement used for alignment excessive movement check (rad/sec)
// Variables used to perform in flight resets and switch between height sources
AlphaFilterVector3f _mag_lpf; ///< filtered magnetometer measurement for instant reset (Gauss)
AlphaFilter<Vector3f> _mag_lpf; ///< filtered magnetometer measurement for instant reset (Gauss)
float _hgt_sensor_offset{0.0f}; ///< set as necessary if desired to maintain the same height after a height reset (m)
float _baro_hgt_offset{0.0f}; ///< baro height reading at the local NED origin (m)