Hi, the actual implementation of the Mahony filter is working with a fixed frequency of 25Hz (sampleFreq, defined in src/utility/MahonyAHRS.cpp) and it returns innacurate values when the system is calling the filter in a different rate.
This patch adds an input for the acquisition frequency, giving more accurate sensor readings when the correct frequency is given.
Hi, the actual implementation of the Mahony filter is working with a fixed frequency of 25Hz (sampleFreq, defined in src/utility/MahonyAHRS.cpp) and it returns innacurate values when the system is calling the filter in a different rate.
This patch adds an input for the acquisition frequency, giving more accurate sensor readings when the correct frequency is given.
here is a code using this feature: https://github.com/gustavolaureano/updated_balac_pid