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Code Issues Wiki Activity

Gyro Kalman filter from EmuFlight (#5519)

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* Direct copy from EmuFlight, compiles, does not wrk

* Fix Kalman computation

* Catchup on Emu implementation

* Make Q, W and Sharpness configurable

* Settings for Kalman Q, W and Sharpness

* Make it possible to enable/disable Kalman filter

* Change scaling to make initial values simpler

* Change Kalman constrains

* Compute real variance

* Drop unused function parameter

* Improve EKF processing for gyro
This commit is contained in:
Paweł Spychalski 2020-06-11 13:46:04 +02:00 • committed by GitHub
parent 839a877397
commit 706da4aef2
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9 changed files with 230 additions and 2 deletions
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src/main/build/debug.h
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@ -72,5 +72,6 @@ typedef enum {
DEBUG_DYNAMIC_FILTER_FREQUENCY,
DEBUG_IRLOCK,
DEBUG_CD,
DEBUG_KALMAN,
DEBUG_COUNT
} debugType_e;