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AP_DAL: change gyro filter to 10Hz
this improved EKF3 IMU position correction for noise
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@ -54,9 +54,9 @@ void AP_DAL_InertialSensor::start_frame()
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void AP_DAL_InertialSensor::update_filtered(uint8_t i)
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void AP_DAL_InertialSensor::update_filtered(uint8_t i)
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{
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{
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if (!is_positive(alpha)) {
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if (!is_positive(alpha)) {
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// we use a constant 20Hz for EKF filtered accel/gyro, making the EKF
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// we use a constant 10Hz for EKF filtered accel/gyro, making the EKF
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// independent of the INS filter settings
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// independent of the INS filter settings
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const float cutoff_hz = 20.0;
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const float cutoff_hz = 10.0;
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alpha = calc_lowpass_alpha_dt(get_loop_delta_t(), cutoff_hz);
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alpha = calc_lowpass_alpha_dt(get_loop_delta_t(), cutoff_hz);
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}
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}
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if (is_positive(_RISI[i].delta_angle_dt)) {
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if (is_positive(_RISI[i].delta_angle_dt)) {
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