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Re: [Paparazzi-devel] IMU and sensors frequency

From: Felix Ruess
Subject: Re: [Paparazzi-devel] IMU and sensors frequency
Date: Wed, 18 May 2016 10:22:45 +0200

Hi Flavio,

The AHRS filters are normally not called at a fixed frequency, but on each new IMU measurement. Hence it depends on your IMU frequency.
For some AHRS filters you can also set AHRS_PROPAGATE_FREQUENCY to use a fixed dt value instead of the time between two gyro measurements.

The (usually not recommended) euler complementary filter is also called on each new gyro measurement (see gyro_cb() in ahrs_int_cmpl_euler_wrapper.c), but the implementation itself assumed this is 512Hz (as defined in F_UPDATE).

So to sum up: In most cases the AHRS freq depends on the frequency your IMU driver publishes new measurements via ABI

Cheers, Felix

On Fri, May 13, 2016 at 2:11 AM, flavio_just <address@hidden> wrote:
Hello guys!
I'm having a hard time understanding at which frequencies some components of
the system are running.
For example, the euler complementary filter estimator is called every 1/512
s right?

What about the IMU?
And, more speficic, the frequency of the gyro, accel and mag individually?
Where are the configuration of these frequencies?

Thank you so much for your help!

Best regards,
Flávio Justino

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