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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-24 08:43:34 +08:00
Daniel Agar
2410b31662
I've added a queue depth of 4 for sensor_accel and sensor_gyro. This is initially added because it's not always possible for the `vehicle_acceleration` to keep up with every publication of the primary accelerator as it runs in the same thread as ekf2, various controllers, etc. Later this mechanism will be used in a few areas - rate limit `vehicle_angular_velocity` and `vehicle_acceleration` without missing any raw data - move IMU integration to `vehicle_imu` and out of the actual driver threads, eliminating the need for sensor_accel_integrated and sensor_gyro_integrated - integrate raw gyro synchronized with optical flow measurements
47 lines
2.0 KiB
C
47 lines
2.0 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2020 PX4 Development Team. All rights reserved.
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* Redistribution and use in source and binary forms, with or without
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/**
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* Low pass filter cutoff frequency for accel
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*
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* The cutoff frequency for the 2nd order butterworth filter on the primary accelerometer.
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* This only affects the signal sent to the controllers, not the estimators. 0 disables the filter.
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*
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* @min 0
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* @max 1000
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* @unit Hz
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* @reboot_required true
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* @group Sensors
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*/
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PARAM_DEFINE_FLOAT(IMU_ACCEL_CUTOFF, 30.0f);
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