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Refactor filter #2036

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Merged
merged 2 commits into from
Oct 10, 2025
Merged

Refactor filter #2036

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201dada
refactor orientation_filter and sensor_data_receiver roll_pitch filter
schluis Jul 19, 2025
ef707da
extract is_steady into variable
schluis Oct 1, 2025
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10 changes: 4 additions & 6 deletions crates/control/src/orientation_filter.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -63,13 +63,13 @@ impl OrientationFilter {
.sensor_data
.inertial_measurement_unit
.linear_acceleration;
let angular_velocity_sum = measured_angular_velocity.abs().inner.sum();

let mut recalibrated_this_cycle = false;
let is_steady = angular_velocity_sum < *context.calibration_steady_threshold;
match &mut self.calibration_state {
State::WaitingForSteady => {
if measured_angular_velocity.abs().inner.sum()
< *context.calibration_steady_threshold
{
if is_steady {
self.calibration_state = State::CalibratingGravity {
filtered_gravity: LowPassFilter::with_smoothing_factor(
measured_acceleration,
Expand All @@ -83,9 +83,7 @@ impl OrientationFilter {
filtered_gravity,
number_of_cycles,
} => 'update: {
if measured_angular_velocity.abs().inner.sum()
>= *context.calibration_steady_threshold
{
if !is_steady {
self.calibration_state = State::WaitingForSteady;
break 'update;
}
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10 changes: 4 additions & 6 deletions crates/control/src/sensor_data_receiver.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -80,12 +80,12 @@ impl SensorDataReceiver {
let measured_angular_velocity = sensor_data.inertial_measurement_unit.angular_velocity;
let measured_acceleration = sensor_data.inertial_measurement_unit.linear_acceleration;
let measured_roll_pitch = sensor_data.inertial_measurement_unit.roll_pitch;
let angular_velocity_sum = measured_angular_velocity.abs().inner.sum();

let is_steady = angular_velocity_sum < *context.calibration_steady_threshold;
match &mut self.calibration_state {
State::WaitingForSteady => {
if measured_angular_velocity.abs().inner.sum()
< *context.calibration_steady_threshold
{
if is_steady {
self.calibration_state = State::CalibratingGravity {
filtered_gravity: LowPassFilter::with_smoothing_factor(
measured_acceleration,
Expand All @@ -104,9 +104,7 @@ impl SensorDataReceiver {
filtered_roll_pitch,
remaining_cycles,
} => {
if measured_angular_velocity.abs().inner.sum()
< *context.calibration_steady_threshold
{
if is_steady {
filtered_gravity.update(measured_acceleration);
filtered_roll_pitch.update(measured_roll_pitch);
*remaining_cycles -= 1;
Expand Down