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Imu filter (#7606)

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* Add adjustable driver level cutoff freq for accel/gyro.

* Fix copy and paste error.

* Updated print_info.

* imu filter minor cleanup
This commit is contained in:
James Goppert
2017-09-25 13:55:56 -04:00
committed by GitHub
parent a945cd9fc2
commit e72769c924
3 changed files with 110 additions and 18 deletions
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src/modules/sensors/sensor_params.c
+30
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@@ -1144,3 +1144,33 @@ PARAM_DEFINE_INT32(SENS_EN_SF1XX, 0);
* @group Sensor Enable
*/
PARAM_DEFINE_INT32(SENS_EN_THERMAL, -1);
/**
* Driver level cut frequency for gyro
*
* The cut frequency for the 2nd order butterworth filter on the gyro driver. This features
* is currently supported by the mpu6000 and mpu9250. This only affects the signal sent to the
* controllers, not the estimators. 0 disables the filter.
*
* @min 5
* @max 1000
* @unit Hz
* @reboot_required true
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(IMU_GYRO_CUTOFF, 30.0f);
/**
* Driver level cut frequency for accel
*
* The cut frequency for the 2nd order butterworth filter on the accel driver. This features
* is currently supported by the mpu6000 and mpu9250. This only affects the signal sent to the
* controllers, not the estimators. 0 disables the filter.
*
* @min 5
* @max 1000
* @unit Hz
* @reboot_required true
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(IMU_ACCEL_CUTOFF, 30.0f);