Open whoispo opened 1 week ago
You are right. The gain wasn't being properly updated.
The commit de6e3632055a57c45b1d66b21113174e66dad37e has modified this part and its calls within the algorithm. The changes are:
alpha_bar
(equal to 0.1) to be consistent with the original article.self.alpha
as it was.adaptive_gain()
as the second parameter now. The first parameter is now the Measured local acceleration vector, as it always should have been.adaptive_gain()
in the methods updateIMU()
and updateMARG()
are done now with the measured acceleration vector only.If you have further observations, let me know.
if alpha equals 0 then, alpha will be 0 forever. Because in the code, alpha updates:
Even if f equals 1, then new alpha will be 0.
I have read the reference article, the gain is not stored and used again.