清华方案的疑问：GRAVITY_ADJUST_TIME_CONSTANT和GYROSCOPE_ANGLE_SIGMA_FREQUENCY

caofeng

清华方案的疑问：角度计算函数中的GRAVITY_ADJUST_TIME_CONSTANT和GYROSCOPE_ANGLE_SIGMA_FREQUENCY是怎么求得？？请大神指点
void AngleCalculate(void) {
float fDeltaValue;
g_fGravityAngle = (VOLTAGE_GRAVITY - GRAVITY_OFFSET) *
GRAVITY_ANGLE_RATIO;
// g_fGravityAngle = 0;
g_fGyroscopeAngleSpeed = (VOLTAGE_GYRO - GYROSCOPE_OFFSET) *
GYROSCOPE_ANGLE_RATIO;
g_fCarAngle = g_fGyroscopeAngleIntegral;
fDeltaValue = (g_fGravityAngle - g_fCarAngle) /
GRAVITY_ADJUST_TIME_CONSTANT;
g_fGyroscopeAngleIntegral += (g_fGyroscopeAngleSpeed + fDeltaValue) /
GYROSCOPE_ANGLE_SIGMA_FREQUENCY;
}