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发表于 2015-5-1 20:14:14
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楼主,想请教一下互补滤波里面的参数设定需要注意什么?移植时产生什么影响?谢谢指教
#define sampleFreq 512.0f // sample frequency in Hz
#define twoKpDef (2.0f * 0.5f) // 2 * proportional gain
#define twoKiDef (2.0f * 0.0f) // 2 * integral gain
//---------------------------------------------------------------------------------------------------
// Variable definitions
volatile float twoKp = twoKpDef; // 2 * proportional gain (Kp)
volatile float twoKi = twoKiDef; // 2 * integral gain (Ki)
volatile float q0 = 1.0f, q1 = 0.0f, q2 = 0.0f, q3 = 0.0f; // quaternion of sensor frame relative to auxiliary frame
volatile float integralFBx = 0.0f, integralFBy = 0.0f, integralFBz = 0.0f; // integral error terms scaled by Ki
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