Adding low pass filter to imu measurement

DAIRLab / dairlib

MIT License

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Adding low pass filter to imu measurement #195

Closed yangwill closed 2 years ago

yangwill commented 4 years ago

Adding a low pass filter to the IMU measurement

interesting note: adding the low pass filter changes the realtime rate from ~0.8 to ~0.6.
this improves the stability of the tuned walking controller (tested in cassie_experimental branch)

This change is

yminchen commented 4 years ago

The slowdown might come from the fact that the filter is in continuous time (https://github.com/RobotLocomotion/drake/blob/8592c35bd05810323f9b7f46b42542cd53349168/systems/primitives/first_order_low_pass_filter.cc#L27)

I think having a realtime simulation is valuable. Maybe we can implement a discrete version? For example, using DeclareDiscreteState and DeclarePeriodicEvent

yangwill commented 2 years ago

Closing PR because the drake system uses continuous variables and we no longer need this feature.