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Remove ICM Gyro Pre-filter #14891

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merged 1 commit into from
Aug 3, 2020
+2 −4
Merged

Remove ICM Gyro Pre-filter #14891

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2 changes: 1 addition & 1 deletion libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -521,7 +521,7 @@ bool AP_InertialSensor_Invensense::_accumulate_sensor_rate_sampling(uint8_t *sam
Vector3f g2 = g * _gyro_scale;
_notify_new_gyro_sensor_rate_sample(_gyro_instance, g2);

_accum.gyro += _accum.gyro_filter.apply(g);
_accum.gyro += g;

if (_accum.gyro_count % _gyro_fifo_downsample_rate == 0) {
_accum.gyro *= _fifo_gyro_scale;
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1 change: 0 additions & 1 deletion libraries/AP_InertialSensor/AP_InertialSensor_Invensense.h
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Expand Up @@ -169,7 +169,6 @@ class AP_InertialSensor_Invensense : public AP_InertialSensor_Backend
uint8_t accel_count;
uint8_t gyro_count;
LowPassFilterVector3f accel_filter{4000, 188};
LowPassFilterVector3f gyro_filter{8000, 188};
} _accum;
};

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2 changes: 1 addition & 1 deletion libraries/AP_InertialSensor/AP_InertialSensor_Invensensev2.cpp
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Expand Up @@ -413,7 +413,7 @@ bool AP_InertialSensor_Invensensev2::_accumulate_sensor_rate_sampling(uint8_t *s
Vector3f g2 = g * GYRO_SCALE;
_notify_new_gyro_sensor_rate_sample(_gyro_instance, g2);

_accum.gyro += _accum.gyro_filter.apply(g);
_accum.gyro += g;

if (_accum.gyro_count % _gyro_fifo_downsample_rate == 0) {
_accum.gyro *= _fifo_gyro_scale;
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1 change: 0 additions & 1 deletion libraries/AP_InertialSensor/AP_InertialSensor_Invensensev2.h
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Expand Up @@ -157,7 +157,6 @@ class AP_InertialSensor_Invensensev2 : public AP_InertialSensor_Backend
uint8_t accel_count;
uint8_t gyro_count;
LowPassFilterVector3f accel_filter{4500, 188};
LowPassFilterVector3f gyro_filter{9000, 188};
} _accum;
};

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