filter_1euro_imu
Prefiltering for IMU data using 1euro filter. The 1 Euro filter is an first order low pass filter with an adaptive cutoff frequency. It is able to efficiently remove high frequency noise when the average signal is stable with very small lag by increasing the bandwith to capture faster movements. Only two parameters are required to tune the filter: - mincutoff that defines the minimum bandwith: reduce it if noise at low speed is a problem - beta that is the adaptation coefficient: increase it if lag at high speed is a problem In order to use this filter for your IMU (on Gyro and Acell data, Mag passthrough), you only need to redefine the source of data in the ABI bindings of the AHRS/INS filter being used. For instance, if the ‘ahrs_int_cmpl_quat’ AHRS is used, this module should be loaded with the following options: define name=”AHRS_ICQ_IMU_ID” value=”IMU_F1E_ID” define name=”AHRS_ALIGNER_IMU_ID” value=”IMU_F1E_ID”
FILTER_1EURO_ |
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|---|---|---|
Name |
Value |
Description |
ENABLED |
FALSE|TRUE |
activate or not the filter by default |
GYRO_MINCUTOFF |
10. |
minimum cutoff freq for gyro signal |
GYRO_BETA |
0.1 |
adaptation coefficient for gyro signal |
ACCEL_MINCUTOFF |
0.1 |
minimum cutoff freq for accel signal |
ACCEL_BETA |
0.01 |
adaptation coefficient for accel signal |
FREQ |
512 |
set fixed frequency, if not defined but INS/AHRS_PROPAGATE_FREQUENCY is defined it is used, otherwise autofreq is used |
Depends
- @imu