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[ahrs] configurable weighting band

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Gautier Hattenberger
2019-06-19 13:34:00 +02:00
committed by Freek van Tienen
parent 02a5d3961d
commit 19c9b373bf
1 changed files with 9 additions and 2 deletions
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sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
+9 -2
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@@ -363,6 +363,13 @@ void Normalize(void)
#define ACCEL_WEIGHT_FILTER 8 #define ACCEL_WEIGHT_FILTER 8
#endif #endif
// the weigthing is function of the length of a band of 1G by default
// so <0.5G = 0.0, 1G = 1.0 , >1.5G = 0.0
// adjust the band size if needed, the value should be >0
#ifndef ACCEL_WEIGHT_BAND
#define ACCEL_WEIGHT_BAND 1.f
#endif
void Drift_correction() void Drift_correction()
{ {
//Compensation the Roll, Pitch and Yaw drift. //Compensation the Roll, Pitch and Yaw drift.
@@ -389,8 +396,8 @@ void Drift_correction()
Accel_filtered = Accel_magnitude; Accel_filtered = Accel_magnitude;
#endif #endif
// Dynamic weighting of accelerometer info (reliability filter) // Dynamic weighting of accelerometer info (reliability filter)
// Weight for accelerometer info (<0.5G = 0.0, 1G = 1.0 , >1.5G = 0.0) // Weight for accelerometer info according to band size (min value is 0.1 to prevent division by zero)
Accel_weight = Clip(1.f - 2.f * fabsf(1.f - Accel_filtered), 0.f, 1.f); Accel_weight = Clip(1.f - (2.f / Max(0.1f,ACCEL_WEIGHT_BAND)) * fabsf(1.f - Accel_filtered), 0.f, 1.f);
#if PERFORMANCE_REPORTING == 1 #if PERFORMANCE_REPORTING == 1