AP_DAL: change gyro filter to 10Hz

this improved EKF3 IMU position correction for noise
ArduPilot · Apr 17, 2024 · eed50a0 · eed50a0
1 parent fe9fcf4
commit eed50a0
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/libraries/AP_DAL/AP_DAL_InertialSensor.cpp b/libraries/AP_DAL/AP_DAL_InertialSensor.cpp
@@ -54,9 +54,9 @@ void AP_DAL_InertialSensor::start_frame()
 void AP_DAL_InertialSensor::update_filtered(uint8_t i)
 {
     if (!is_positive(alpha)) {
-        // we use a constant 20Hz for EKF filtered accel/gyro, making the EKF
+        // we use a constant 10Hz for EKF filtered accel/gyro, making the EKF
         // independent of the INS filter settings
-        const float cutoff_hz = 20.0;
+        const float cutoff_hz = 10.0;
         alpha = calc_lowpass_alpha_dt(get_loop_delta_t(), cutoff_hz);
     }
     if (is_positive(_RISI[i].delta_angle_dt)) {