Adjust VQF params more

kounocom · Oct 11, 2024 · 2f2c248 · 2f2c248
1 parent afb4d32
commit 2f2c248
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Showing 9 changed files with 9 additions and 9 deletions.
diff --git a/src/sensors/softfusion/drivers/bmi270.h b/src/sensors/softfusion/drivers/bmi270.h
@@ -67,7 +67,7 @@ struct BMI270 {
 		.biasSigmaInit = 0.5f,
 		.biasClip = 1.0f,
 		.restThGyr = 0.5f,
-		.restThAcc = 0.392f,
+		.restThAcc = 0.196f,
 	};
 
 	struct MotionlessCalibrationData {

diff --git a/src/sensors/softfusion/drivers/icm42688.h b/src/sensors/softfusion/drivers/icm42688.h
@@ -65,7 +65,7 @@ struct ICM42688 {
 		.biasSigmaInit = 0.5f,
 		.biasClip = 1.0f,
 		.restThGyr = 0.5f,
-		.restThAcc = 0.392f,
+		.restThAcc = 0.196f,
 	};
 
 	I2CImpl i2c;

diff --git a/src/sensors/softfusion/drivers/icm45686.h b/src/sensors/softfusion/drivers/icm45686.h
@@ -70,7 +70,7 @@ struct ICM45686 {
 		.biasSigmaInit = 0.3f,
 		.biasClip = 0.6f,
 		.restThGyr = 0.3f,
-		.restThAcc = 0.0196f,
+		.restThAcc = 0.0098f,
 	};
 
 	I2CImpl i2c;

diff --git a/src/sensors/softfusion/drivers/lsm6ds3.h b/src/sensors/softfusion/drivers/lsm6ds3.h
@@ -65,7 +65,7 @@ struct LSM6DS3 {
 		.biasSigmaInit = 10.0f,
 		.biasClip = 20.0f,
 		.restThGyr = 10.0f,
-		.restThAcc = 0.784f,
+		.restThAcc = 0.392f,
 	};
 
 	I2CImpl i2c;

diff --git a/src/sensors/softfusion/drivers/lsm6ds3trc.h b/src/sensors/softfusion/drivers/lsm6ds3trc.h
@@ -65,7 +65,7 @@ struct LSM6DS3TRC {
 		.biasSigmaInit = 3.0f,
 		.biasClip = 6.0f,
 		.restThGyr = 3.0f,
-		.restThAcc = 0.784f,
+		.restThAcc = 0.392f,
 	};
 
 	I2CImpl i2c;

diff --git a/src/sensors/softfusion/drivers/lsm6dso.h b/src/sensors/softfusion/drivers/lsm6dso.h
@@ -70,7 +70,7 @@ struct LSM6DSO : LSM6DSOutputHandler<I2CImpl> {
 		.biasSigmaInit = 1.0f,
 		.biasClip = 2.0f,
 		.restThGyr = 1.0f,
-		.restThAcc = 0.392f,
+		.restThAcc = 0.192f,
 	};
 
 	using LSM6DSOutputHandler<I2CImpl>::i2c;

diff --git a/src/sensors/softfusion/drivers/lsm6dsr.h b/src/sensors/softfusion/drivers/lsm6dsr.h
@@ -70,7 +70,7 @@ struct LSM6DSR : LSM6DSOutputHandler<I2CImpl> {
 		.biasSigmaInit = 1.0f,
 		.biasClip = 2.0f,
 		.restThGyr = 1.0f,
-		.restThAcc = 0.392f,
+		.restThAcc = 0.192f,
 	};
 
 	using LSM6DSOutputHandler<I2CImpl>::i2c;

diff --git a/src/sensors/softfusion/drivers/lsm6dsv.h b/src/sensors/softfusion/drivers/lsm6dsv.h
@@ -70,7 +70,7 @@ struct LSM6DSV : LSM6DSOutputHandler<I2CImpl> {
 		.biasSigmaInit = 1.0f,
 		.biasClip = 2.0f,
 		.restThGyr = 1.0f,
-		.restThAcc = 0.392f,
+		.restThAcc = 0.192f,
 	};
 
 	using LSM6DSOutputHandler<I2CImpl>::i2c;

diff --git a/src/sensors/softfusion/drivers/mpu6050.h b/src/sensors/softfusion/drivers/mpu6050.h
@@ -80,7 +80,7 @@ struct MPU6050 {
 		.biasSigmaInit = 20.0f,
 		.biasClip = 40.0f,
 		.restThGyr = 20.0f,
-		.restThAcc = 1.568f,
+		.restThAcc = 0.784f,
 	};
 
 	I2CImpl i2c;