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Removed Gyro filter, In the end it doesn't help and I think it could actually hurt gyro integration.

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Jason Short 2012-01-15 21:46:45 -08:00
parent 712c675807
commit 94e7ba8df2
1 changed files with 0 additions and 9 deletions
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9
libraries/AP_ADC/AP_ADC_ADS7844.cpp
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@ -220,15 +220,6 @@ uint32_t AP_ADC_ADS7844::Ch6(const uint8_t *channel_numbers, uint16_t *result)
if(filter_result){ if(filter_result){
uint32_t _sum_accel; uint32_t _sum_accel;
// simple Gyro Filter
for (i = 0; i < 3; i++) {
// add prev filtered value to new raw value, divide by 2
result[i] = (_prev_gyro[i] + result[i]) >> 1;
// remember the filtered value
_prev_gyro[i] = result[i];
}
// Accel filter // Accel filter
for (i = 0; i < 3; i++) { for (i = 0; i < 3; i++) {
// move most recent result into filter // move most recent result into filter