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AP_DAL: change gyro filter to 10Hz

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this improved EKF3 IMU position correction for noise
This commit is contained in:
Andrew Tridgell 2024-04-16 08:30:41 +10:00
parent fe9fcf445e
commit eed50a0872
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_DAL/AP_DAL_InertialSensor.cpp
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@ -54,9 +54,9 @@ void AP_DAL_InertialSensor::start_frame()
void AP_DAL_InertialSensor::update_filtered(uint8_t i)
{
if (!is_positive(alpha)) {
// we use a constant 20Hz for EKF filtered accel/gyro, making the EKF
// we use a constant 10Hz for EKF filtered accel/gyro, making the EKF
// independent of the INS filter settings
const float cutoff_hz = 20.0;
const float cutoff_hz = 10.0;
alpha = calc_lowpass_alpha_dt(get_loop_delta_t(), cutoff_hz);
}
if (is_positive(_RISI[i].delta_angle_dt)) {