Re: [Paparazzi-devel] iir filter for HFF

[Felix Ruess]

Hi Kadir,

I wrote hff quite a long time ago as a quick hack before an IMAV competition, it is far from ideal...

A pull request with an IIR instead of the simple mean would be appreciated ;-)

Cheers, Felix

On Mon, Mar 17, 2014 at 1:12 PM, Kadir ÇİMENCİ <address@hidden> wrote:

Hi Hector,

Im using LisamV2.0 with Aspirin v2.1 .. Actually i design the filter in fdatool with the assumption of 512Hz sampling rate. In 'hff' type ins subsystem , there is an approach to take the mean value of every last 16 samples,  i tried to converge the same phase lag with the current version and its working better in my platform..

Kadir

2014-03-17 13:36 GMT+02:00 Hector Garcia de Marina <address@hidden>:

Well, filters depends so much on the actual platform.

Which (precisely) are you using?

On Mon, Mar 17, 2014 at 12:25 PM, Kadir ÇİMENCİ <address@hidden> wrote:

Hello everyone,

I write a simple IIR filter at the input of Hff. It gives better results for both hovering and navigation, if you want to use i can commit on github. SNR on the acc signals seems better and it gives smoother hover and regular navigation through waypoints. The output of the filter(comparison with the previous version) is at the attachment; translational accelerations seems similar with the previous version and the noise while hovering suppressed better(green line on "iir_hover.jpg") . Please ignore the labels on the graphs...

Best Regards

Kadir

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Héctor

Webpage: http://mathtronics.wordpress.com/

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