When taking new pitch, roll, and, yaw measurements, the original bola.ino file made use of an lpf function that appears to be a Low Pass Filter conditioned on the current value, the previous value, and a coefficient. Ex.
current_roll_lpf = lpf(current_roll_lpf, current_roll_raw, LPF_BETA) - roll_bias;
This lpf function has been removed from the code and it is unclear how it works and how necessary it is for accurate readings
TODO:
- Investigate lpf and find the optimal use cases and implementations
- Implement low pass filter if needed
When taking new pitch, roll, and, yaw measurements, the original bola.ino file made use of an lpf function that appears to be a Low Pass Filter conditioned on the current value, the previous value, and a coefficient. Ex.
current_roll_lpf = lpf(current_roll_lpf, current_roll_raw, LPF_BETA) - roll_bias;This lpf function has been removed from the code and it is unclear how it works and how necessary it is for accurate readings
TODO: