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simple horizontal filter with GPS lag compensation.

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include booz2_ins_hff.makefile to use the filter and define GPS_LAG in
seconds: e.g. -DGPS_LAG=0.8
removed bias estimation in hff since that was plain wrong
This commit is contained in:
Felix Ruess
2009-08-31 18:46:59 +00:00
parent 4f3310ee63
commit d70badc2bf
10 changed files with 445 additions and 465 deletions
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conf/airframes/booz2_flixr.xml
+3 -2
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@@ -203,8 +203,9 @@
include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
#enable horizontal filter
ap.CFLAGS += -DUSE_HFF -DHFF_PRESCALER=16 -DGPS_LAG=0.2
include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
#set GPS lag for horizontal filter
ap.CFLAGS += -DGPS_LAG=0.8
</makefile>