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prevent low pass filter if no sensor data is available

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This commit is contained in:
Marius Eggert 2023-04-17 09:29:50 +02:00
parent 07572ab3a0
commit e05d9d4b2a
1 changed files with 3 additions and 2 deletions
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5
mission/controller/acs/SensorProcessing.cpp
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@ -150,7 +150,8 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
}
timeOfSavedMagFieldEst = timeOfMgmMeasurement;
if (mgmDataProcessed->mgmVecTotDerivative.isValid()) {
if (VectorOperations<double>::norm(mgmVecTotDerivative, 3) != 0 and
mgmDataProcessed->mgmVecTotDerivative.isValid()) {
lowPassFilter(mgmVecTotDerivative, mgmDataProcessed->mgmVecTotDerivative.value,
mgmParameters->mgmDerivativeFilterWeight);
}
@ -533,7 +534,7 @@ void SensorProcessing::processGyr(
}
}
if (gyrDataProcessed->gyrVecTot.isValid()) {
if (VectorOperations<double>::norm(gyrVecTot, 3) != 0 and gyrDataProcessed->gyrVecTot.isValid()) {
lowPassFilter(gyrVecTot, gyrDataProcessed->gyrVecTot.value, gyrParameters->gyrFilterWeight);
}