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[ahrs] int_cmpl_quat: scale the correction in update_accel with AHRS_CORRECT_FREQUENCY

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Allow tuning of the rate and bias gains.
Scaling correction by AHRS_CORRECT_FREQUENCY should also give you
roughly correct tuning for 100Hz fixedwings, see #240.
This commit is contained in:
Felix Ruess
2013-02-20 15:24:15 +01:00
parent 08bcb665d6
commit 5545851d20
6 changed files with 59 additions and 22 deletions
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conf/settings/estimation/ahrs_int_cmpl_quat.xml
+3 -1
View File
@@ -4,7 +4,9 @@
<dl_settings>
<dl_settings NAME="AHRS">
<dl_setting var="ahrs_impl.use_gravity_heuristic" min="0" step="1" max="1" module="subsystems/ahrs/ahrs_int_cmpl_quat" shortname="gravity_heuristic" values="OFF|ON"/>
<dl_setting var="ahrs_impl.use_gravity_heuristic" min="0" step="1" max="1" module="subsystems/ahrs/ahrs_int_cmpl_quat" shortname="gravity_heuristic" values="OFF|ON" param="AHRS_GRAVITY_UPDATE_NORM_HEURISTIC"/>
<dl_setting var="ahrs_impl.rate_correction_gain" min="1" step="1" max="100" module="subsystems/ahrs/ahrs_int_cmpl_quat" shortname="rate_gain" param="AHRS_RATE_CORRECTION_GAIN"/>
<dl_setting var="ahrs_impl.bias_correction_gain" min="1" step="1" max="100" module="subsystems/ahrs/ahrs_int_cmpl_quat" shortname="bias_gain" param="AHRS_BIAS_CORRECTION_GAIN"/>
</dl_settings>
</dl_settings>