imu: compute GPS 3D speed only on new GPS data#11356
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sensei-hacker wants to merge 1 commit intoiNavFlight:maintenance-9.xfrom
Open
imu: compute GPS 3D speed only on new GPS data#11356sensei-hacker wants to merge 1 commit intoiNavFlight:maintenance-9.xfrom
sensei-hacker wants to merge 1 commit intoiNavFlight:maintenance-9.xfrom
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GPS3DspeedFiltered was computed every PID cycle (1 kHz) from gpsSol.velNED[], which only changes when the GPS task delivers a new fix (~10 Hz). Move the sqrt and pt1 filter update into imuCalculateTurnRateacceleration(), gate them on gpsHeartbeat change, and make the filter state a static local. The variable is only consumed in that function (fixed-wing + GPS-trustworthy path), so the module-level FASTRAM variables and the imuInit() reset are also removed. Co-Authored-By: Claude Sonnet 4.6 <[email protected]>
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Summary
gpsHeartbeatcheck so it only runs when fresh GPS data arrives (~10 Hz), rather than every IMU cycle (~1000 Hz). Reduces the CPU impact by 99%.Motivation
The GPS 3D speed filter was previously called every IMU update cycle regardless of whether new GPS data was available. Since GPS data arrives at ~10 Hz, the filter was being invoked ~100× more often than necessary with no benefit.
Files Changed
src/main/flight/imu.c— gate GPS 3D speed update ongpsHeartbeat, convert state to local statics