fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-16 04:23:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Imu filter (#7606)

Browse Source 
* 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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/sensors/sensor_params.c
+30
View File
@@ -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);