Comments (3)
digitalentity
commented on July 30, 2024
More thoughts - velocity should be calculated by IMU in updateEstimatedVelocitiesFromIMU() function at a fixed rate (i.e 100 Hz)
On new GPS frame in onNewGPSData() or scheduled baro update in updateEstimatedAltitude() actual position gets updated and reference velocity calculated and fed to IMU via imuApplyFilterToActualVelocity().
This should keep velocity complementary filter separated from position update code.
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digitalentity
commented on July 30, 2024
Done in bdb6ef10898f94480ff2561051a892a5addb2735. Test required.
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digitalentity
commented on July 30, 2024
A bunch of tests resulted in 47aa7a8e25975dab1707ea1960e1fc4fa61439f6. Working very well so far. Closing.
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