sensors: wait for real sample rate to initialize LowPassFilter2p

src/lib/mathlib/math/filter/LowPassFilter2p.hpp

@@ -49,6 +49,8 @@ template<typename T>
 class LowPassFilter2p
 {
 public:
+	LowPassFilter2p() = default;
+
 	LowPassFilter2p(float sample_freq, float cutoff_freq)
 	{
 		// set initial parameters

src/modules/sensors/vehicle_acceleration/VehicleAcceleration.hpp

@@ -93,10 +93,9 @@ private:
 
 	matrix::Vector3f _acceleration_prev{};
 
-	static constexpr const float kInitialRateHz{1000.f}; /**< sensor update rate used for initialization */
 	float _filter_sample_rate{NAN};
 
-	math::LowPassFilter2p<matrix::Vector3f> _lp_filter{kInitialRateHz, 30.f};
+	math::LowPassFilter2p<matrix::Vector3f> _lp_filter{};
 
 	DEFINE_PARAMETERS(
 		(ParamFloat<px4::params::IMU_ACCEL_CUTOFF>) _param_imu_accel_cutoff,

src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp

@@ -130,10 +130,8 @@ private:
 
 	float _filter_sample_rate_hz{NAN};
 
-	static constexpr const float kInitialRateHz{1000.f}; /**< sensor update rate used for initialization */
-
 	// angular velocity filters
-	math::LowPassFilter2p<float> _lp_filter_velocity[3] {{kInitialRateHz, 30.f}, {kInitialRateHz, 30.f}, {kInitialRateHz, 30.f}};
+	math::LowPassFilter2p<float> _lp_filter_velocity[3] {};
 	math::NotchFilter<float> _notch_filter_velocity[3] {};
 
 #if !defined(CONSTRAINED_FLASH)
@@ -167,7 +165,7 @@ private:
 #endif // !CONSTRAINED_FLASH
 
 	// angular acceleration filter
-	math::LowPassFilter2p<float> _lp_filter_acceleration[3] {{kInitialRateHz, 30.f}, {kInitialRateHz, 30.f}, {kInitialRateHz, 30.f}};
+	math::LowPassFilter2p<float> _lp_filter_acceleration[3] {};
 
 	uint32_t _selected_sensor_device_id{0};