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  • Andrew Tridgell's avatar
    DCM: drop the 'drop z' method · 398a608b
    Andrew Tridgell authored
    the 'drop z' method reduced the impact of noise on omegaI, but it also
    made us more sensitive to errors in accelerometer calibration and
    scaling, as demonstated by the logs from Gabor here:
    
      http://diydrones.com/xn/detail/705844:Comment:834373
    
    Simulation testing shows that the other noise suppression methods
    applied in the DCM code, in particular the slope limiting on omegaI
    the removal of the weighting and the upcoming use of a _omega_I_sum
    buffer have reduced the impact of noise enough that we can now safely
    include z in the acceleration calculation.
    398a608b
AP_AHRS_DCM.cpp 15.82 KiB