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imu: compute GPS 3D speed only on new GPS data #11356

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imu: compute GPS 3D speed only on new GPS data #11356

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15 changes: 8 additions & 7 deletions src/main/flight/imu.c
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Original file line number Diff line number Diff line change
Expand Up @@ -113,8 +113,6 @@ STATIC_FASTRAM pt1Filter_t HeadVecEFFilterY;
STATIC_FASTRAM pt1Filter_t HeadVecEFFilterZ;
FASTRAM fpVector3_t HeadVecEFFiltered = {.v = {0.0f, 0.0f, 0.0f}};

STATIC_FASTRAM float GPS3DspeedFiltered=0.0f;
STATIC_FASTRAM pt1Filter_t GPS3DspeedFilter;

FASTRAM bool gpsHeadingInitialized;

Expand Down Expand Up @@ -210,8 +208,6 @@ void imuInit(void)
pt1FilterReset(&HeadVecEFFilterX, 0);
pt1FilterReset(&HeadVecEFFilterY, 0);
pt1FilterReset(&HeadVecEFFilterZ, 0);
// Initialize 3d speed filter
pt1FilterReset(&GPS3DspeedFilter, 0);
}

void imuSetMagneticDeclination(float declinationDeg)
Expand Down Expand Up @@ -667,9 +663,6 @@ static void imuCalculateFilters(float dT)
HeadVecEFFiltered.y = pt1FilterApply4(&HeadVecEFFilterY, rMat[1][0], IMU_ROTATION_LPF, dT);
HeadVecEFFiltered.z = pt1FilterApply4(&HeadVecEFFilterZ, rMat[2][0], IMU_ROTATION_LPF, dT);

//anti aliasing
float GPS3Dspeed = calc_length_pythagorean_3D(gpsSol.velNED[X],gpsSol.velNED[Y],gpsSol.velNED[Z]);
GPS3DspeedFiltered = pt1FilterApply4(&GPS3DspeedFilter, GPS3Dspeed, IMU_ROTATION_LPF, dT);
}

static void imuCalculateGPSacceleration(fpVector3_t *vEstAccelEF,fpVector3_t *vEstcentrifugalAccelBF, float *acc_ignore_slope_multipiler)
Expand Down Expand Up @@ -705,6 +698,14 @@ static void imuCalculateTurnRateacceleration(fpVector3_t *vEstcentrifugalAccelBF
float currentspeed = 0;
if (isGPSTrustworthy()){
//first speed choice is gps
static bool lastGPSHeartbeat;
static pt1Filter_t GPS3DspeedFilter;
static float GPS3DspeedFiltered = 0.0f;
if (gpsSol.flags.gpsHeartbeat != lastGPSHeartbeat) {
lastGPSHeartbeat = gpsSol.flags.gpsHeartbeat;
float GPS3Dspeed = calc_length_pythagorean_3D(gpsSol.velNED[X], gpsSol.velNED[Y], gpsSol.velNED[Z]);
GPS3DspeedFiltered = pt1FilterApply4(&GPS3DspeedFilter, GPS3Dspeed, IMU_ROTATION_LPF, dT);
}
currentspeed = GPS3DspeedFiltered;
*acc_ignore_slope_multipiler = 4.0f;
}
Expand Down