When starting up the IMU can accumulate offsets before it reports fully calibrated. In this case the seeded quad_history of 0,0,0,0 will always generate a large offset and be detected as a flip. This merge request counts sequential flips and if there are more than 10, it seeds the history with the current readings to 'reset' the system
brickbots
commented
2 months ago
When starting up the IMU can accumulate offsets before it reports fully calibrated. In this case the seeded quad_history of 0,0,0,0 will always generate a large offset and be detected as a flip. This merge request counts sequential flips and if there are more than 10, it seeds the history with the current readings to 'reset' the system