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make ltp_to_imu and ltp_to_body coherent in ahrs_init

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This commit is contained in:
Felix Ruess
2011-08-22 23:05:28 +02:00
parent 8ecce02183
commit 2ef3e3ef63
2 changed files with 15 additions and 6 deletions
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sw/airborne/subsystems/ahrs/ahrs_int_cmpl.c
+6 -4
View File
@@ -83,13 +83,16 @@ void ahrs_init(void) {
ahrs.status = AHRS_UNINIT;
// FIXME: make ltp_to_imu and ltp_to_body coherent
/* set ltp_to_body to zero */
INT_EULERS_ZERO(ahrs.ltp_to_body_euler);
INT_EULERS_ZERO(ahrs.ltp_to_imu_euler);
INT32_QUAT_ZERO(ahrs.ltp_to_body_quat);
INT32_QUAT_ZERO(ahrs.ltp_to_imu_quat);
INT32_RMAT_ZERO(ahrs.ltp_to_body_rmat);
INT_RATES_ZERO(ahrs.body_rate);
/* set ltp_to_imu so that body is zero */
QUAT_COPY(ahrs.ltp_to_imu_quat, imu.body_to_imu_quat);
RMAT_COPY(ahrs.ltp_to_imu_rmat, imu.body_to_imu_rmat);
INT32_EULERS_OF_RMAT(ahrs.ltp_to_imu_euler, ahrs.ltp_to_imu_rmat);
INT_RATES_ZERO(ahrs.imu_rate);
INT_RATES_ZERO(ahrs_impl.gyro_bias);
@@ -100,7 +103,6 @@ void ahrs_init(void) {
void ahrs_align(void) {
/* Compute an initial orientation using euler angles */
ahrs_int_get_euler_from_accel_mag(&ahrs.ltp_to_imu_euler, &ahrs_aligner.lp_accel, &ahrs_aligner.lp_mag);
/* Convert initial orientation in quaternion and rotation matrice representations. */
sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c
+9 -2
View File
@@ -48,12 +48,19 @@ static inline void compute_body_orientation(void);
void ahrs_init(void) {
ahrs.status = AHRS_UNINIT;
/* set ltp_to_body to zero */
INT_EULERS_ZERO(ahrs.ltp_to_body_euler);
INT_EULERS_ZERO(ahrs.ltp_to_imu_euler);
INT32_QUAT_ZERO(ahrs.ltp_to_body_quat);
INT32_QUAT_ZERO(ahrs.ltp_to_imu_quat);
INT32_RMAT_ZERO(ahrs.ltp_to_body_rmat);
INT_RATES_ZERO(ahrs.body_rate);
/* set ltp_to_imu so that body is zero */
QUAT_COPY(ahrs.ltp_to_imu_quat, imu.body_to_imu_quat);
RMAT_COPY(ahrs.ltp_to_imu_rmat, imu.body_to_imu_rmat);
INT32_EULERS_OF_RMAT(ahrs.ltp_to_imu_euler, ahrs.ltp_to_imu_rmat);
INT_RATES_ZERO(ahrs.imu_rate);
INT_RATES_ZERO(ahrs_impl.gyro_bias);
ahrs_impl.reinj_1 = FACE_REINJ_1;