attitude: Implement sensor decimation. #2230
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Jenkins, build artifacts please. |
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Artifacts built, by request of @glowtape |
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Seems to work fine according to the guy on the forum triggering this PR. |
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Moves the collection of the gyro samples from the updateAttitudeINSGPS/updateAttitudeComplementary functions to the task function, and collects samples averaging them based on a decimator value calculated. Current default runtime for the attitude filter in this patch is 100hz, which drops the CPU usage in TaskInfo from 15% to about 2-3%. It still flies good (at least in the living room, rain and all).
PR for Maquiabelo, for artifacts.