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Better Gyro Fusion #784

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Better Gyro Fusion #784

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22c7f07
Better way of fusing gyros together using variance.
Quick-Flash Feb 28, 2022
f8dc7e0
rebase off of hydra branch
Quick-Flash Jan 21, 2022
d9bc0d4
reduce cpu and punish high error more
Quick-Flash Feb 28, 2022
4cf2e5c
Update gyro.c
Quick-Flash Feb 28, 2022
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Update gyro.c
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@Quick-Flash @nerdCopter
Quick-Flash authored and nerdCopter committed Nov 22, 2022
commit 4cf2e5c3101a711c2a3825a5cc58a5fc3f0255d0
3 changes: 1 addition & 2 deletions src/main/sensors/gyro.c
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Original file line number Diff line number Diff line change
Expand Up @@ -476,8 +476,7 @@ FAST_CODE void gyroUpdate(void)
gyro.gyroADC[X] = ((gyroScaled1 * varianceGyro2) + (gyroScaled2 * varianceGyro1)) / (varianceGyro1 + varianceGyro2);
DEBUG_SET(DEBUG_FUSION, 0, lrintf(gyroScaled1));
DEBUG_SET(DEBUG_FUSION, 1, lrintf(gyroScaled2));
DEBUG_SET(DEBUG_FUSION, 2, lrintf(varianceGyro1));
DEBUG_SET(DEBUG_FUSION, 3, lrintf(varianceGyro2));
DEBUG_SET(DEBUG_FUSION, 2, lrintf(gyro.gyroADC[X]));

gyroScaled1 = gyro.gyroSensor1.gyroDev.gyroADC[Y] * gyro.gyroSensor1.gyroDev.scale;
gyroScaled2 = gyro.gyroSensor2.gyroDev.gyroADC[Y] * gyro.gyroSensor2.gyroDev.scale;
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