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AP_InertialSensor: remove ICM gyro pre-filter

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This commit is contained in:
Andy Piper 2020-07-23 21:14:42 +01:00 committed by Andrew Tridgell
parent baf92a17f9
commit e53a43461b
4 changed files with 2 additions and 4 deletions
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2
libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp
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@ -521,7 +521,7 @@ bool AP_InertialSensor_Invensense::_accumulate_sensor_rate_sampling(uint8_t *sam
Vector3f g2 = g * _gyro_scale; Vector3f g2 = g * _gyro_scale;
_notify_new_gyro_sensor_rate_sample(_gyro_instance, g2); _notify_new_gyro_sensor_rate_sample(_gyro_instance, g2);
_accum.gyro += _accum.gyro_filter.apply(g); _accum.gyro += g;
if (_accum.gyro_count % _gyro_fifo_downsample_rate == 0) { if (_accum.gyro_count % _gyro_fifo_downsample_rate == 0) {
_accum.gyro *= _fifo_gyro_scale; _accum.gyro *= _fifo_gyro_scale;

1
libraries/AP_InertialSensor/AP_InertialSensor_Invensense.h
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@ -169,7 +169,6 @@ private:
uint8_t accel_count; uint8_t accel_count;
uint8_t gyro_count; uint8_t gyro_count;
LowPassFilterVector3f accel_filter{4000, 188}; LowPassFilterVector3f accel_filter{4000, 188};
LowPassFilterVector3f gyro_filter{8000, 188};
} _accum; } _accum;
}; };

2
libraries/AP_InertialSensor/AP_InertialSensor_Invensensev2.cpp
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@ -413,7 +413,7 @@ bool AP_InertialSensor_Invensensev2::_accumulate_sensor_rate_sampling(uint8_t *s
Vector3f g2 = g * GYRO_SCALE; Vector3f g2 = g * GYRO_SCALE;
_notify_new_gyro_sensor_rate_sample(_gyro_instance, g2); _notify_new_gyro_sensor_rate_sample(_gyro_instance, g2);
_accum.gyro += _accum.gyro_filter.apply(g); _accum.gyro += g;
if (_accum.gyro_count % _gyro_fifo_downsample_rate == 0) { if (_accum.gyro_count % _gyro_fifo_downsample_rate == 0) {
_accum.gyro *= _fifo_gyro_scale; _accum.gyro *= _fifo_gyro_scale;

1
libraries/AP_InertialSensor/AP_InertialSensor_Invensensev2.h
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@ -157,7 +157,6 @@ private:
uint8_t accel_count; uint8_t accel_count;
uint8_t gyro_count; uint8_t gyro_count;
LowPassFilterVector3f accel_filter{4500, 188}; LowPassFilterVector3f accel_filter{4500, 188};
LowPassFilterVector3f gyro_filter{9000, 188};
} _accum; } _accum;
}; };