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improve efficiency of non-uniform rate LPFs

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This commit is contained in:
Mark Whitehorn
2015-01-13 09:10:44 -07:00
parent dba0a5a90f
commit b795705640
1 changed files with 3 additions and 8 deletions
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src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+3 -8
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@@ -786,8 +786,7 @@ FixedwingEstimator::task_main()
// init lowpass filters for baro and gps altitude
float _gps_alt_filt = 0, _baro_alt_filt = 0;
float _gps_last = 0, _baro_last = 0;
float rc = (1.0f/10); // actually 1/RC time constant of 1st order LPF
float rc = 10.0f; // RC time constant of 1st order LPF in seconds
hrt_abstime baro_last = 0;
_task_running = true;
@@ -1065,8 +1064,7 @@ FixedwingEstimator::task_main()
_ekf->gpsHgt = _gps.alt / 1e3f;
// update LPF
_gps_alt_filt += (1 - expf(-gps_elapsed * rc)) * (_gps_last - _gps_alt_filt);
_gps_last = _ekf->gpsHgt;
_gps_alt_filt += (gps_elapsed / (rc + gps_elapsed)) * (_ekf->gpsHgt - _gps_alt_filt);
//warnx("gps alt: %6.1f, interval: %6.3f", (double)_ekf->gpsHgt, (double)gps_elapsed);
@@ -1104,8 +1102,7 @@ FixedwingEstimator::task_main()
_ekf->updateDtHgtFilt(math::constrain(baro_elapsed, 0.001f, 0.1f));
_ekf->baroHgt = _baro.altitude;
_baro_alt_filt += (1 - expf(-baro_elapsed * rc)) * (_baro_last - _baro_alt_filt);
_baro_last = _baro.altitude;
_baro_alt_filt += (baro_elapsed/(rc + baro_elapsed)) * (_baro.altitude - _baro_alt_filt);
if (!_baro_init) {
_baro_ref = _baro.altitude;
@@ -1231,9 +1228,7 @@ FixedwingEstimator::task_main()
// init filtered gps and baro altitudes
_gps_alt_filt = gps_alt;
_gps_last = gps_alt;
_baro_alt_filt = _baro.altitude;
_baro_last = _baro.altitude;
_ekf->baroHgt = _baro.altitude;
_ekf->hgtMea = 1.0f * (_ekf->baroHgt - (_baro_ref));