Open tongtybj opened 5 years ago
Gyro Configuration
効果: GYRO_DLPF_CFG
= 0x05
と GYRO_DLPF_CFG = 0x03
+ GYRO_LPF_FACTOR
= 12
は同等の効果、以下例:
赤色: GYRO_DLPF_CFG = 0x05
水色: GYRO_DLPF_CFG = 0x03 + GYRO_LPF_FACTOR = 12
Acc Configuration
効果: ACC_DLPF_CFG
= 0x06
< ACC_DLPF_CFG = 0x05
+ ACC_LPF_FACTOR
= 42
delay
ACC_DLPF_CFG = 0x05
: 16.83[ms]ACC_DLPF_CFG = 0x06
: 32.48[ms] (確認できていない)ACC_LPF_FACTOR = 42
: ~40[ms]なので、ACC_DLPF_CFG = 0x05
+ ACC_LPF_FACTOR = 42
は大体50[ms]の遅延
We have redundant lpf for gyro and acc:
https://github.com/tongtybj/aerial_robot/blob/devel/aerial_robot_nerve/spinal/mcu_project/Jsk_Lib/sensors/imu/imu_basic.h#L21-L22
https://github.com/tongtybj/aerial_robot/blob/devel/aerial_robot_nerve/spinal/mcu_project/Jsk_Lib/sensors/imu/imu_basic.cpp#L82-L85
https://github.com/tongtybj/aerial_robot/blob/devel/aerial_robot_nerve/spinal/mcu_project/Jsk_Lib/sensors/imu/imu_basic.cpp#L94-L96
merge this FIR filter into the internal filter of mpu9250: https://github.com/tongtybj/aerial_robot/blob/devel/aerial_robot_nerve/spinal/mcu_project/Jsk_Lib/sensors/imu/imu_mpu9250.h#L41-L42