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[nps] fix imu sensitivity (#2925) (#2926)

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setting correct sensitivity if needed

fix #2925
This commit is contained in:
ALI JAMEI
2022-10-12 12:47:18 +03:30
committed by GitHub
parent 83e57b3733
commit 3c565adb1a
2 changed files with 78 additions and 0 deletions
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conf/simulator/nps/nps_sensors_params_default.h
+39
View File
@@ -62,9 +62,22 @@
#define NPS_ACCEL_SENSITIVITY_NUM 981
#define NPS_ACCEL_SENSITIVITY_DEN 200
#define NPS_ACCEL_SENSITIVITY ((float)NPS_ACCEL_SENSITIVITY_NUM / (float)NPS_ACCEL_SENSITIVITY_DEN)
#ifdef IMU_ACCEL_X_SENS
#define NPS_ACCEL_SENSITIVITY_XX ACCEL_BFP_OF_REAL(1./IMU_ACCEL_X_SENS)
#else
#define NPS_ACCEL_SENSITIVITY_XX ACCEL_BFP_OF_REAL(1./NPS_ACCEL_SENSITIVITY)
#endif
#ifdef IMU_ACCEL_Y_SENS
#define NPS_ACCEL_SENSITIVITY_YY ACCEL_BFP_OF_REAL(1./IMU_ACCEL_Y_SENS)
#else
#define NPS_ACCEL_SENSITIVITY_YY ACCEL_BFP_OF_REAL(1./NPS_ACCEL_SENSITIVITY)
#endif
#ifdef IMU_ACCEL_Z_SENS
#define NPS_ACCEL_SENSITIVITY_ZZ ACCEL_BFP_OF_REAL(1./IMU_ACCEL_Z_SENS)
#else
#define NPS_ACCEL_SENSITIVITY_ZZ ACCEL_BFP_OF_REAL(1./NPS_ACCEL_SENSITIVITY)
#endif
#ifdef IMU_ACCEL_X_NEUTRAL
#define NPS_ACCEL_NEUTRAL_X IMU_ACCEL_X_NEUTRAL
@@ -112,9 +125,22 @@
#define NPS_GYRO_SENSITIVITY_NUM 36542
#define NPS_GYRO_SENSITIVITY_DEN 8383
#define NPS_GYRO_SENSITIVITY ((float)NPS_GYRO_SENSITIVITY_NUM / (float)NPS_GYRO_SENSITIVITY_DEN)
#ifdef IMU_GYRO_P_SENS
#define NPS_GYRO_SENSITIVITY_PP RATE_BFP_OF_REAL(1./IMU_GYRO_P_SENS)
#else
#define NPS_GYRO_SENSITIVITY_PP RATE_BFP_OF_REAL(1./NPS_GYRO_SENSITIVITY)
#endif
#ifdef IMU_GYRO_Q_SENS
#define NPS_GYRO_SENSITIVITY_QQ RATE_BFP_OF_REAL(1./IMU_GYRO_Q_SENS)
#else
#define NPS_GYRO_SENSITIVITY_QQ RATE_BFP_OF_REAL(1./NPS_GYRO_SENSITIVITY)
#endif
#ifdef IMU_GYRO_R_SENS
#define NPS_GYRO_SENSITIVITY_RR RATE_BFP_OF_REAL(1./IMU_GYRO_R_SENS)
#else
#define NPS_GYRO_SENSITIVITY_RR RATE_BFP_OF_REAL(1./NPS_GYRO_SENSITIVITY)
#endif
#ifdef IMU_GYRO_P_NEUTRAL
#define NPS_GYRO_NEUTRAL_P IMU_GYRO_P_NEUTRAL
@@ -168,9 +194,22 @@
#define NPS_MAG_SENSITIVITY_NUM 1
#define NPS_MAG_SENSITIVITY_DEN 1
#define NPS_MAG_SENSITIVITY ((float)NPS_MAG_SENSITIVITY_NUM / (float)NPS_MAG_SENSITIVITY_DEN)
#ifdef IMU_MAG_X_SENS
#define NPS_MAG_SENSITIVITY_XX MAG_BFP_OF_REAL(1./IMU_MAG_X_SENS)
#else
#define NPS_MAG_SENSITIVITY_XX MAG_BFP_OF_REAL(1./NPS_MAG_SENSITIVITY)
#endif
#ifdef IMU_MAG_Y_SENS
#define NPS_MAG_SENSITIVITY_YY MAG_BFP_OF_REAL(1./IMU_MAG_Y_SENS)
#else
#define NPS_MAG_SENSITIVITY_YY MAG_BFP_OF_REAL(1./NPS_MAG_SENSITIVITY)
#endif
#ifdef IMU_MAG_Z_SENS
#define NPS_MAG_SENSITIVITY_ZZ MAG_BFP_OF_REAL(1./IMU_MAG_Z_SENS)
#else
#define NPS_MAG_SENSITIVITY_ZZ MAG_BFP_OF_REAL(1./NPS_MAG_SENSITIVITY)
#endif
#ifdef IMU_MAG_X_NEUTRAL
#define NPS_MAG_NEUTRAL_X IMU_MAG_X_NEUTRAL
conf/simulator/nps/nps_sensors_params_noisy.h
+39
View File
@@ -62,9 +62,22 @@
#define NPS_ACCEL_SENSITIVITY_NUM 981
#define NPS_ACCEL_SENSITIVITY_DEN 200
#define NPS_ACCEL_SENSITIVITY ((float)NPS_ACCEL_SENSITIVITY_NUM / (float)NPS_ACCEL_SENSITIVITY_DEN)
#ifdef IMU_ACCEL_X_SENS
#define NPS_ACCEL_SENSITIVITY_XX ACCEL_BFP_OF_REAL(1./IMU_ACCEL_X_SENS)
#else
#define NPS_ACCEL_SENSITIVITY_XX ACCEL_BFP_OF_REAL(1./NPS_ACCEL_SENSITIVITY)
#endif
#ifdef IMU_ACCEL_Y_SENS
#define NPS_ACCEL_SENSITIVITY_YY ACCEL_BFP_OF_REAL(1./IMU_ACCEL_Y_SENS)
#else
#define NPS_ACCEL_SENSITIVITY_YY ACCEL_BFP_OF_REAL(1./NPS_ACCEL_SENSITIVITY)
#endif
#ifdef IMU_ACCEL_Z_SENS
#define NPS_ACCEL_SENSITIVITY_ZZ ACCEL_BFP_OF_REAL(1./IMU_ACCEL_Z_SENS)
#else
#define NPS_ACCEL_SENSITIVITY_ZZ ACCEL_BFP_OF_REAL(1./NPS_ACCEL_SENSITIVITY)
#endif
#ifdef IMU_ACCEL_X_NEUTRAL
#define NPS_ACCEL_NEUTRAL_X IMU_ACCEL_X_NEUTRAL
@@ -112,9 +125,22 @@
#define NPS_GYRO_SENSITIVITY_NUM 36542
#define NPS_GYRO_SENSITIVITY_DEN 8383
#define NPS_GYRO_SENSITIVITY ((float)NPS_GYRO_SENSITIVITY_NUM / (float)NPS_GYRO_SENSITIVITY_DEN)
#ifdef IMU_GYRO_P_SENS
#define NPS_GYRO_SENSITIVITY_PP RATE_BFP_OF_REAL(1./IMU_GYRO_P_SENS)
#else
#define NPS_GYRO_SENSITIVITY_PP RATE_BFP_OF_REAL(1./NPS_GYRO_SENSITIVITY)
#endif
#ifdef IMU_GYRO_Q_SENS
#define NPS_GYRO_SENSITIVITY_QQ RATE_BFP_OF_REAL(1./IMU_GYRO_Q_SENS)
#else
#define NPS_GYRO_SENSITIVITY_QQ RATE_BFP_OF_REAL(1./NPS_GYRO_SENSITIVITY)
#endif
#ifdef IMU_GYRO_R_SENS
#define NPS_GYRO_SENSITIVITY_RR RATE_BFP_OF_REAL(1./IMU_GYRO_R_SENS)
#else
#define NPS_GYRO_SENSITIVITY_RR RATE_BFP_OF_REAL(1./NPS_GYRO_SENSITIVITY)
#endif
#ifdef IMU_GYRO_P_NEUTRAL
#define NPS_GYRO_NEUTRAL_P IMU_GYRO_P_NEUTRAL
@@ -168,9 +194,22 @@
#define NPS_MAG_SENSITIVITY_NUM 1
#define NPS_MAG_SENSITIVITY_DEN 1
#define NPS_MAG_SENSITIVITY ((float)NPS_MAG_SENSITIVITY_NUM / (float)NPS_MAG_SENSITIVITY_DEN)
#ifdef IMU_MAG_X_SENS
#define NPS_MAG_SENSITIVITY_XX MAG_BFP_OF_REAL(1./IMU_MAG_X_SENS)
#else
#define NPS_MAG_SENSITIVITY_XX MAG_BFP_OF_REAL(1./NPS_MAG_SENSITIVITY)
#endif
#ifdef IMU_MAG_Y_SENS
#define NPS_MAG_SENSITIVITY_YY MAG_BFP_OF_REAL(1./IMU_MAG_Y_SENS)
#else
#define NPS_MAG_SENSITIVITY_YY MAG_BFP_OF_REAL(1./NPS_MAG_SENSITIVITY)
#endif
#ifdef IMU_MAG_Z_SENS
#define NPS_MAG_SENSITIVITY_ZZ MAG_BFP_OF_REAL(1./IMU_MAG_Z_SENS)
#else
#define NPS_MAG_SENSITIVITY_ZZ MAG_BFP_OF_REAL(1./NPS_MAG_SENSITIVITY)
#endif
#ifdef IMU_MAG_X_NEUTRAL
#define NPS_MAG_NEUTRAL_X IMU_MAG_X_NEUTRAL