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Added heavily filtered Accelerometer values for experimentation. 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2779 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-07-08 03:58:19 +00:00
parent 5e163c6052
commit a16b00b5bf
2 changed files with 11 additions and 0 deletions
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4
libraries/AP_IMU/AP_IMU_Oilpan.cpp
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@ -278,6 +278,10 @@ AP_IMU_Oilpan::update(void)
_accel.y = _accel_scale * _sensor_in(4, tc_temp); _accel.y = _accel_scale * _sensor_in(4, tc_temp);
_accel.z = _accel_scale * _sensor_in(5, tc_temp); _accel.z = _accel_scale * _sensor_in(5, tc_temp);
_accel_filtered.x = _accel_filtered.x * .98 + _accel.x * .02;
_accel_filtered.y = _accel_filtered.y * .98 + _accel.y * .02;
_accel_filtered.z = _accel_filtered.z * .98 + _accel.z * .02;
// always updated // always updated
return true; return true;
} }

7
libraries/AP_IMU/IMU.h
View File

@ -70,6 +70,12 @@ public:
/// ///
Vector3f get_accel(void) { return _accel; } Vector3f get_accel(void) { return _accel; }
/// Fetch the current accelerometer values
///
/// @returns vector of current accelerations in m/s/s
///
Vector3f get_accel_filtered(void) { return _accel_filtered; }
/// A count of bad sensor readings /// A count of bad sensor readings
/// ///
/// @todo This should be renamed, as there's no guarantee that sensors /// @todo This should be renamed, as there's no guarantee that sensors
@ -80,6 +86,7 @@ public:
protected: protected:
/// Most recent accelerometer reading obtained by ::update /// Most recent accelerometer reading obtained by ::update
Vector3f _accel; Vector3f _accel;
Vector3f _accel_filtered;
/// Most recent gyro reading obtained by ::update /// Most recent gyro reading obtained by ::update
Vector3f _gyro; Vector3f _gyro;