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AP_InertialSensor: converge sensor rate quickly, then slowly

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converge fast for the first 60 seconds, then more slowly to reduce
noise
This commit is contained in:
Andrew Tridgell 2017-05-01 13:15:41 +10:00
parent db25b6e966
commit 2876f1467c
1 changed files with 11 additions and 2 deletions
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13
libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
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@ -65,8 +65,17 @@ void AP_InertialSensor_Backend::_update_sensor_rate(uint16_t &count, uint32_t &s
#if SENSOR_RATE_DEBUG #if SENSOR_RATE_DEBUG
printf("RATE: %.1f should be %.1f\n", observed_rate_hz, rate_hz); printf("RATE: %.1f should be %.1f\n", observed_rate_hz, rate_hz);
#endif #endif
observed_rate_hz = constrain_float(observed_rate_hz, rate_hz*0.95, rate_hz*1.05); float filter_constant = 0.98;
rate_hz = 0.90 * rate_hz + 0.1 * observed_rate_hz; float upper_limit = 1.05;
float lower_limit = 0.95;
if (AP_HAL::millis() < 30000) {
// converge quickly for first 30s, then more slowly
filter_constant = 0.8;
upper_limit = 2.0;
lower_limit = 0.5;
}
observed_rate_hz = constrain_float(observed_rate_hz, rate_hz*lower_limit, rate_hz*upper_limit);
rate_hz = filter_constant * rate_hz + (1-filter_constant) * observed_rate_hz;
count = 0; count = 0;
start_us = now; start_us = now;
} }