PX4Accelerometer/PX4Gyroscope: integrated data use simple rotate_3f to avoid unnecessary floating point operations #14752
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It's a bit hard to see because the raw sensor data was captured at a low rate, but if we filter both the raw data and integrated data of the same axis side-by-side you can see the difference.
This is not present in the y or z axis.
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This can be merged whether it fixes any potential numerical problem or not. The simple |
dagar
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LorenzMeier
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Apr 26, 2020
dagar
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Apr 26, 2020
…FIFO case This is a quick follow up fix to to a bug introduced by #14752. In the case of FIFO data (new IMU drivers) the calibration offset wasn't being applied correctly to the result of integrating the FIFO samples. This slipped through basic sanity testing (simple bench testing, the test rack, and SITL CI) due to the calibration offsets being zeroed.
bkueng
reviewed
Apr 28, 2020
| // scale calibration offset to number of samples | ||
| const Vector3f offset{_calibration_offset * _integrator_fifo_samples}; | ||
| // integrated in microseconds, convert to seconds | ||
| const Vector3f delta_velocity_uncalibrated{_integration_raw * 1e-6f * dt * _scale}; |
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You can reduce the number of operations here if you add brackets:
delta_velocity_uncalibrated{_integration_raw * (1e-6f * dt * _scale)};
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Possible fix for (part of) #14735.
Related history: #11713