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Включен low pass фильтр датчиков, уменьшен срез биквада

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Раджаб Бисултанов
2026-03-12 13:54:48 +03:00
parent c1fab9fcb3
commit 469ec64d45
3 changed files with 20 additions and 8 deletions
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12
Source/BSP/Src/imu_processing.c
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@@ -20,13 +20,13 @@ static biquad_t gyro_z_lpf;
void imu_processing_init()
{
biquad_init_lpf(&accel_x_lpf, 30.0f, 500.0f);
biquad_init_lpf(&accel_y_lpf, 30.0f, 500.0f);
biquad_init_lpf(&accel_z_lpf, 30.0f, 500.0f);
biquad_init_lpf(&accel_x_lpf, 25.0f, 500.0f);
biquad_init_lpf(&accel_y_lpf, 25.0f, 500.0f);
biquad_init_lpf(&accel_z_lpf, 25.0f, 500.0f);
biquad_init_lpf(&gyro_x_lpf, 120.0f, 500.0f);
biquad_init_lpf(&gyro_y_lpf, 120.0f, 500.0f);
biquad_init_lpf(&gyro_z_lpf, 120.0f, 500.0f);
biquad_init_lpf(&gyro_x_lpf, 25.0f, 500.0f);
biquad_init_lpf(&gyro_y_lpf, 25.0f, 500.0f);
biquad_init_lpf(&gyro_z_lpf, 25.0f, 500.0f);
}
void imu_read_scaled(imu_scaled_t* out)