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vehicle_angular_velocity: ESC RPM notch filters minimize filter resets (#20449)

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- vehicle_angular_velocity: ESC RPM notch filters minimize filter resets
 - only allow one filter init per axis per cycle
 - "park" ESC notch filters at min frequency instead of full disable
 - relax timeout before a notch filter is disabled
 - add new parameter IMU_GYRO_DNF_MIN for configuring the minimum notch filter frequency
This commit is contained in:
Daniel Agar
2022-10-20 09:05:23 -04:00
committed by GitHub
parent 89bc28e836
commit b400b7fcc4
4 changed files with 82 additions and 41 deletions
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4
posix-configs/SITL/init/test/test_imu_filtering
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@@ -25,6 +25,10 @@ param set IMU_GYRO_FFT_SNR 10
#param set IMU_GYRO_DNF_EN 2
param set IMU_GYRO_DNF_EN 3
param set IMU_GYRO_DNF_BW 15
param set IMU_GYRO_DNF_HMC 3
param set IMU_GYRO_DNF_MIN 25
# test values
param set IMU_GYRO_CUTOFF 60
param set IMU_DGYRO_CUTOFF 40