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ekf2-grav: only use filtered accel norm to start/stop the fusion

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Using the raw data makes the swith too sensitive to noise
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bresch
2024-01-18 20:39:16 -05:00
committed by Daniel Agar
parent 2b69a3d290
commit c28972d15e
3 changed files with 2 additions and 7 deletions
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src/modules/ekf2/EKF/ekf_helper.cpp
-1
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@@ -987,7 +987,6 @@ void Ekf::updateIMUBiasInhibit(const imuSample &imu_delayed)
const float beta = 1.f - alpha;
_accel_magnitude_filt = fmaxf(imu_delayed.delta_vel.norm() / imu_delayed.delta_vel_dt, beta * _accel_magnitude_filt);
_accel_vec_filt = alpha * imu_delayed.delta_vel / imu_delayed.delta_vel_dt + beta * _accel_vec_filt;
}