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This commit is contained in:
Antoine Drouin
2008-07-01 20:44:49 +00:00
parent 90ee1f30f9
commit 2cc04b7421
5 changed files with 48 additions and 22 deletions
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conf/airframes/booz2.xml
-1
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@@ -65,7 +65,6 @@
<define name="GYRO_Y_NEUTRAL" value="32768"/>
<define name="GYRO_Z_NEUTRAL" value="32768"/>
<define name="GYRO_X_SENS" value="(-4541.3261)"/>
<define name="GYRO_Y_SENS" value="(-4651.1628)"/>
<define name="GYRO_Z_SENS" value="( 4752.8517)"/>
conf/autopilot/conf_booz2.makefile
+25 -1
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@@ -28,6 +28,7 @@ FLASH_MODE = IAP
BOOZ=booz
BOOZ_PRIV=booz_priv
BOOZ_PRIV_ARCH=booz_priv/arm7
BOOZ_ARCH=booz/arm7
#
@@ -70,4 +71,27 @@ sim.srcs += $(BOOZ_PRIV)/booz_estimator_int.c
sim.srcs += $(BOOZ_PRIV)/booz_cmp_flt_quat_int.c
sim.srcs += $(BOOZ_PRIV)/booz_guidance_int.c
sim.srcs += $(BOOZ_PRIV)/booz_stabilization_int.c
sim.srcs += $(BOOZ_PRIV)/booz_supervision_int.c
sim.srcs += $(BOOZ_PRIV)/booz_supervision_int.c
# test imu
test_imu.ARCHDIR = $(ARCHI)
test_imu.ARCH = arm7tdmi
test_imu.TARGET = test_imu
test_imu.TARGETDIR = test_imu
test_imu.CFLAGS += -DCONFIG=\"tiny_1_1.h\" -I$(BOOZ_PRIV_ARCH)
test_imu.srcs += $(BOOZ_PRIV)/test_imu.c
test_imu.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./1000.))' -DTIME_LED=1
test_imu.CFLAGS += -DLED
test_imu.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
test_imu.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B57600
test_imu.srcs += $(SRC_ARCH)/uart_hw.c
test_imu.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0
test_imu.srcs += downlink.c pprz_transport.c
test_imu.CFLAGS += -DFLOAT_T=float
test_imu.srcs += $(BOOZ_PRIV)/booz_imu_int.c $(BOOZ_PRIV_ARCH)/booz_imu_int_hw.c
conf/messages.xml
+9 -2
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@@ -871,14 +871,21 @@
<field name="gr" type="int32"/>
</message>
<message name="BOOZ2_ACCEL" ID="132">
<field name="ax" type="int32"/>
<field name="ay" type="int32"/>
<field name="az" type="int32"/>
</message>
<message name="BOOZ2_FILTER" ID="132">
<message name="BOOZ2_FILTER" ID="133">
<field name="gp" type="int32"/>
<field name="gq" type="int32"/>
<field name="gr" type="int32"/>
<field name="bp" type="int32"/>
<field name="bq" type="int32"/>
<field name="br" type="int32"/>
</message>
<!--
<message name="DC_MC_STATUS" ID="255">
<field name="time_sec" type="uint16"/>
sw/simulator/booz_sensors_model_params.h
+1 -1
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@@ -74,7 +74,7 @@
#define BSM_GYRO_NOISE_STD_DEV_Q RadOfDeg(.5)
#define BSM_GYRO_NOISE_STD_DEV_R RadOfDeg(.5)
#define BSM_GYRO_BIAS_INITIAL_P RadOfDeg( .5)
#define BSM_GYRO_BIAS_INITIAL_P RadOfDeg( .0)
#define BSM_GYRO_BIAS_INITIAL_Q RadOfDeg(-0.5)
#define BSM_GYRO_BIAS_INITIAL_R RadOfDeg( .25)
sw/simulator/booz_sensors_model_params_booz2.h
+13 -17
View File
@@ -37,13 +37,13 @@
#define BSM_ACCEL_NEUTRAL_Y 32768
#define BSM_ACCEL_NEUTRAL_Z 32768
/* m2s-4 */
#define BSM_ACCEL_NOISE_STD_DEV_X 1e-1
#define BSM_ACCEL_NOISE_STD_DEV_Y 1e-1
#define BSM_ACCEL_NOISE_STD_DEV_Z 1e-1
#define BSM_ACCEL_NOISE_STD_DEV_X 0
#define BSM_ACCEL_NOISE_STD_DEV_Y 0
#define BSM_ACCEL_NOISE_STD_DEV_Z 0
/* ms-2 */
#define BSM_ACCEL_BIAS_X 1e-3
#define BSM_ACCEL_BIAS_Y 1e-3
#define BSM_ACCEL_BIAS_Z 1e-3
#define BSM_ACCEL_BIAS_X 0
#define BSM_ACCEL_BIAS_Y 0
#define BSM_ACCEL_BIAS_Z 0
/* s */
#define BSM_ACCEL_DT (1./1000.)
@@ -53,10 +53,6 @@
* Gyrometer
*/
#define BSM_GYRO_RESOLUTION 65536
/* degres/s - nominal 300 */
//#define BSM_GYRO_SENSITIVITY_PP 65536. / (2.*RadOfDeg(-413.41848));
//#define BSM_GYRO_SENSITIVITY_QQ 65536. / (2.*RadOfDeg(-403.65564));
//#define BSM_GYRO_SENSITIVITY_RR 65536. / (2.*RadOfDeg( 395.01929));
#define BSM_GYRO_SENSITIVITY_PP (-4541.3261)
#define BSM_GYRO_SENSITIVITY_QQ (-4651.1628)
@@ -66,17 +62,17 @@
#define BSM_GYRO_NEUTRAL_Q 32768
#define BSM_GYRO_NEUTRAL_R 32768
#define BSM_GYRO_NOISE_STD_DEV_P RadOfDeg(.5)
#define BSM_GYRO_NOISE_STD_DEV_Q RadOfDeg(.5)
#define BSM_GYRO_NOISE_STD_DEV_R RadOfDeg(.5)
#define BSM_GYRO_NOISE_STD_DEV_P RadOfDeg(0.5)
#define BSM_GYRO_NOISE_STD_DEV_Q RadOfDeg(0.)
#define BSM_GYRO_NOISE_STD_DEV_R RadOfDeg(0.)
#define BSM_GYRO_BIAS_INITIAL_P RadOfDeg( .0)
#define BSM_GYRO_BIAS_INITIAL_P RadOfDeg( 0.0)
#define BSM_GYRO_BIAS_INITIAL_Q RadOfDeg( .0)
#define BSM_GYRO_BIAS_INITIAL_R RadOfDeg( .0)
#define BSM_GYRO_BIAS_RANDOM_WALK_STD_DEV_P RadOfDeg(5.e-1)
#define BSM_GYRO_BIAS_RANDOM_WALK_STD_DEV_Q RadOfDeg(5.e-1)
#define BSM_GYRO_BIAS_RANDOM_WALK_STD_DEV_R RadOfDeg(5.e-1)
#define BSM_GYRO_BIAS_RANDOM_WALK_STD_DEV_P RadOfDeg(0.5)
#define BSM_GYRO_BIAS_RANDOM_WALK_STD_DEV_Q RadOfDeg(0.)
#define BSM_GYRO_BIAS_RANDOM_WALK_STD_DEV_R RadOfDeg(0.)
#define BSM_GYRO_DT (1./1000.)