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updated hff to accept velocity as only input and add bias

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This commit is contained in:
kirkscheper
2017-10-15 18:36:52 +02:00
parent e9ff78ad00
commit 53f78c4492
11 changed files with 529 additions and 387 deletions
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conf/airframes/TUDELFT/tudelft_ardrone2_opticflow.xml
+3 -7
View File
@@ -23,10 +23,8 @@
<configure name="USE_MAGNETOMETER" value="TRUE"/>
<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
</module>
<module name="ins" type="extended"/>
</firmware>
<modules main_freq="512">
<module name="ins" type="hff_extended"/>
<module name="bat_voltage_ardrone2"/>
<module name="gps" type="ubx_ucenter"/>
<module name="send_imu_mag_current"/>
@@ -43,9 +41,7 @@
<define name="VIDEO_CAPTURE_CAMERA" value="bottom_camera"/>
<define name="VIDEO_CAPTURE_PATH" value="/data/ftp/internal_000/images"/>
</module>
<!--module name="opticflow_hover"/-->
</modules>
</firmware>
<commands>
<axis name="PITCH" failsafe_value="0"/>
conf/airframes/TUDELFT/tudelft_ardrone2_opticflow_indi.xml
+3 -7
View File
@@ -11,7 +11,7 @@
<define name="USE_SONAR" value="TRUE"/>
<!-- Subsystem section -->
<!-- Subsystem section -->
<module name="telemetry" type="transparent_udp"/>
<module name="radio_control" type="datalink"/>
<module name="motor_mixing"/>
@@ -24,9 +24,7 @@
<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
</module>
<module name="ins" type="extended"/>
</firmware>
<modules main_freq="512">
<module name="bat_voltage_ardrone2"/>
<module name="gps" type="ubx_ucenter"/>
<module name="send_imu_mag_current"/>
@@ -43,9 +41,7 @@
<define name="VIDEO_CAPTURE_CAMERA" value="bottom_camera"/>
<define name="VIDEO_CAPTURE_PATH" value="/data/ftp/internal_000/images"/>
</module>
<!--module name="opticflow_hover"/-->
</modules>
</firmware>
<commands>
<axis name="PITCH" failsafe_value="0"/>
conf/airframes/TUDELFT/tudelft_bebop2_opticflow.xml
+3 -8
View File
@@ -18,14 +18,11 @@
<define name="AHRS_USE_GPS_HEADING" value="TRUE"/>
<define name="AHRS_HEADING_UPDATE_GPS_MIN_SPEED" value="0"/>
</module>
<module name="ins" type="extended"/>
<module name="ins" type="hff_extended"/>
<!-- Disable use of GPS: -->
<!-- <define name="INS_INT_GPS_ID" value="ABI_DISABLE"/>
</module> -->
</firmware>
<modules main_freq="512">
<!-- <module name="geo_mag"/>
<module name="send_imu_mag_current"/> -->
<module name="air_data"/>
@@ -35,10 +32,9 @@
</module>
<module name="video_thread"/>
<module name="pose_history"/>
<module name="cv_opticflow">
<module name="cv_opticflow">
<define name="OPTICFLOW_CAMERA" value="bottom_camera"/>
<define name="MAX_HORIZON" value="10"/>
<define name="OPTICFLOW_FX" value="347.22222222"/> <!-- 2.5 / (3.6 * 2.0) * 1000 -->
@@ -62,8 +58,7 @@
<define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/>
<define name="VIEWVIDEO_QUALITY_FACTOR" value="60"/>
</module> -->
</modules>
</firmware>
<commands>
<axis name="PITCH" failsafe_value="0"/>
conf/airframes/TUDELFT/tudelft_bebop_opticflow.xml
+4 -8
View File
@@ -12,7 +12,7 @@
<define name="USE_SONAR"/>
<!-- Subsystem section -->
<!-- Subsystem section -->
<module name="telemetry" type="transparent_udp"/>
<module name="radio_control" type="datalink"/>
<module name="motor_mixing"/>
@@ -24,10 +24,8 @@
<configure name="USE_MAGNETOMETER" value="TRUE"/>
<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
</module>
<module name="ins" type="extended"/>
</firmware>
<modules main_freq="512">
<module name="ins" type="hff_extended"/>
<module name="geo_mag"/>
<module name="air_data"/>
<module name="send_imu_mag_current"/>
@@ -55,9 +53,7 @@
<define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/>
<define name="VIEWVIDEO_QUALITY_FACTOR" value="60"/>
</module-->
</modules>
</firmware>
<commands>
<axis name="PITCH" failsafe_value="0"/>