fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-26 09:13:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

fix(sensors): lower baro thrust estimator CF bandwidth default to 0.05 Hz

Browse Source 
Sweep against range-sensor ground truth shows 0.05 Hz produces K estimates
that match range K more closely than 0.1 Hz. Update default in firmware,
offline analysis tool, and docs.
This commit is contained in:
Jacob Dahl
2026-03-31 23:43:48 -08:00
parent 850d4e2da3
commit c75c9cbe95
6 changed files with 88 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
docs/en/advanced_config/barometer_thrust_compensation.md
+1 -1
View File
@@ -25,7 +25,7 @@ The online estimator identifies `SENS_BARO_PCOEF` automatically during flight an
### How It Works
A complementary filter (CF) fuses barometer altitude with double-integrated accelerometer data at a very low crossover frequency (default 0.1 Hz).
A complementary filter (CF) fuses barometer altitude with double-integrated accelerometer data at a very low crossover frequency (default 0.05 Hz).
The CF trusts the accelerometer for fast altitude changes and the barometer for slow drift, so the CF residual (baro minus accel prediction) isolates thrust-correlated pressure error while rejecting real altitude changes.
A Recursive Least Squares (RLS) estimator then fits the linear model `residual = K * thrust + bias` to identify the gain K.