Better gyro fusion #755
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Better gyro fusion #755
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nerdCopter
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Feb 7, 2024
…ioning. (#958) * HDZero - 5bit backward compatible OSD positioning * hdzero - 30hz OSD and dont periodically force-advertise fc-variant * hdzero - comment out unused code * hdzero - unneeded comma * hdzero - stupid alignment
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This code looks at the variance over the last 8 samples and uses this to determine how to fuse dual gyros together. Gyros with more variance will be fused less while the gyro with less variance will be fused at a higher percent.
To test this code set your debug mode to fusion and set the gyro_to_use in the cli to be both_variance. Debug 0 is gyro1, debug 1 is gyro 2, debug 2 is the fused gyro data. It should be slightly cleaner than the other gyro signals.