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Tilt Initialisation: Average Filter -> LowPass Filter (#686)

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* Tilt Initialisation: Average Filter -> LowPass Filter

* Add _is_first_imu_sample variable

* Remove not needed comments
This commit is contained in:
kritz
2019-12-17 11:01:25 +01:00
committed by Mathieu Bresciani
parent 98a1aae494
commit 6c25ac5731
4 changed files with 43 additions and 35 deletions
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EKF/control.cpp
+5 -5
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@@ -61,18 +61,18 @@ void Ekf::controlFusionModes()
// send alignment status message to the console
if (_control_status.flags.baro_hgt) {
ECL_INFO("EKF aligned, (pressure height, IMU buf: %i, OBS buf: %i)", (int)_imu_buffer_length, (int)_obs_buffer_length);
ECL_INFO("%llu: EKF aligned, (pressure height, IMU buf: %i, OBS buf: %i)", (unsigned long long)_imu_sample_delayed.time_us, (int)_imu_buffer_length, (int)_obs_buffer_length);
} else if (_control_status.flags.ev_hgt) {
ECL_INFO("EKF aligned, (EV height, IMU buf: %i, OBS buf: %i)", (int)_imu_buffer_length, (int)_obs_buffer_length);
ECL_INFO("%llu: EKF aligned, (EV height, IMU buf: %i, OBS buf: %i)", (unsigned long long)_imu_sample_delayed.time_us, (int)_imu_buffer_length, (int)_obs_buffer_length);
} else if (_control_status.flags.gps_hgt) {
ECL_INFO("EKF aligned, (GPS height, IMU buf: %i, OBS buf: %i)", (int)_imu_buffer_length, (int)_obs_buffer_length);
ECL_INFO("%llu: EKF aligned, (GPS height, IMU buf: %i, OBS buf: %i)", (unsigned long long)_imu_sample_delayed.time_us, (int)_imu_buffer_length, (int)_obs_buffer_length);
} else if (_control_status.flags.rng_hgt) {
ECL_INFO("EKF aligned, (range height, IMU buf: %i, OBS buf: %i)", (int)_imu_buffer_length, (int)_obs_buffer_length);
ECL_INFO("%llu: EKF aligned, (range height, IMU buf: %i, OBS buf: %i)", (unsigned long long)_imu_sample_delayed.time_us, (int)_imu_buffer_length, (int)_obs_buffer_length);
} else {
ECL_ERR("EKF aligned, (unknown height, IMU buf: %i, OBS buf: %i)", (int)_imu_buffer_length, (int)_obs_buffer_length);
ECL_ERR("%llu: EKF aligned, (unknown height, IMU buf: %i, OBS buf: %i)", (unsigned long long)_imu_sample_delayed.time_us, (int)_imu_buffer_length, (int)_obs_buffer_length);
}
}