I am working with the CJMCU build of cleanflight on a small drone. As of now, the algorithm for altitude hold uses a first order complementary filter to combine data from the barometer and the accelerometer (after integrating the accelerations twice). However, I have noticed a considerable lag in the altitude readings and this seems to be hampering the control algorithm's performance.

The filter in question has been implemented in https://github.com/diydrones/ardupilot/blob/db8a2f7e8bb2183e6d281e7a348d455d855cf5e1/libraries/AP_TECS/AP_TECS.cpp However, I'm unable to understand how this works.

Pardon me for any errors I may have committed.


Your Answer

By clicking "Post Your Answer", you acknowledge that you have read our updated terms of service, privacy policy and cookie policy, and that your continued use of the website is subject to these policies.

Browse other questions tagged or ask your own question.