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jsk-ros-pkg / jsk_aerial_robot

The platfrom for aerial robot (e.g. general multirotor, hydrus, di, dragon, etc)
http://www.jsk.t.u-tokyo.ac.jp/index-j.html
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[spinal] LPF configuration for IMU mpu9250 #196

Open tongtybj opened 5 years ago

tongtybj commented 5 years ago

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

tongtybj commented 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：

imu_lpf_gyro_dlpf_4_dlpf_3_8

赤色: GYRO_DLPF_CFG = 0x05 水色: GYRO_DLPF_CFG = 0x03 + GYRO_LPF_FACTOR = 12

tongtybj commented 5 years ago

Acc Configuration

効果: ACC_DLPF_CFG = 0x06 < 　ACC_DLPF_CFG = 0x05 + ACC_LPF_FACTOR = 42

two_imu_acc_lpf_0x05_vs_0x06_42

delay

なので、ACC_DLPF_CFG = 0x05 + ACC_LPF_FACTOR = 42は大体50[ms]の遅延

tongtybj commented 5 years ago

課題:

FIRの代わりにIIRを実装して、比較評価してみる