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Alpha-Beta-Gamma filter for gyro #6902

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merged 3 commits into from
May 1, 2021
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DzikuVx
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@DzikuVx DzikuVx commented Apr 28, 2021

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min: 0
max: 2
- name: gyro_abg_half_life
description: "Sample half-life for Gyro Alpha-Beta-Gamma filter"

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you may want to add that its measured in seconds.

@Quick-Flash
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A few small notes, this does work when applied to the Dterm if you want to test that. Another note is that ABG on the gyro creates an estimated velocity, that could be used partially or fully as a derivative term that your dterm uses. Might be worth looking into. I'm going to be messing around more with that soon.

@DzikuVx
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DzikuVx commented May 1, 2021

Traces with and without ABG gyro filter

003

Without ABG
001

With ABG
002

Results:

  • very wide working band
  • low phase delay
  • attenuation is not great, but clearly visible

@DzikuVx DzikuVx added this to the 3.0 milestone May 1, 2021
@DzikuVx DzikuVx merged commit 350345d into master May 1, 2021
@DzikuVx DzikuVx deleted the dzikuvx-gyro-alpha-beta-gamma branch May 1, 2021 09:52
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2 participants