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Normalization srews it all....

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This commit is contained in:
Christophe De Wagter
2010-12-22 13:40:27 +01:00
parent 2dd622d1d5
commit 5696669391
3 changed files with 28 additions and 4 deletions
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conf/airframes/TU_Delft/MicrojetCDW.xml
+1 -1
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@@ -185,7 +185,7 @@
<firmware name="fixedwing"> <firmware name="fixedwing">
<target name="ap" board="tiny_1.1"> <target name="ap" board="tiny_1.1">
<configure name="PERIODIC_FREQUENCY" value="960" /> <!-- IMU FREQ --> <configure name="PERIODIC_FREQUENCY" value="960" /> <!-- IMU FREQ -->
<configure name="AHRS_PROPAGATE_FREQUENCY" value="120" /> <configure name="AHRS_PROPAGATE_FREQUENCY" value="240" />
<configure name="AHRS_CORRECT_FREQUENCY" value="60" /> <configure name="AHRS_CORRECT_FREQUENCY" value="60" />
<configure name="AHRS_ALIGNER_LED" value="1" /> <configure name="AHRS_ALIGNER_LED" value="1" />
<configure name="CPU_LED" value="2" /> <configure name="CPU_LED" value="2" />
conf/settings/tuning_ins.xml
+1 -1
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@@ -44,7 +44,7 @@
<dl_setting MAX="25000" MIN="000" STEP="250" VAR="h_ctl_roll_pgain" shortname="roll_pgain" module="stabilization/stabilization_attitude"/> <dl_setting MAX="25000" MIN="000" STEP="250" VAR="h_ctl_roll_pgain" shortname="roll_pgain" module="stabilization/stabilization_attitude"/>
<dl_setting MAX="1" MIN="0" STEP="0.05" VAR="h_ctl_roll_max_setpoint" shortname="max_roll" param="H_CTL_ROLL_MAX_SETPOINT"/> <dl_setting MAX="1" MIN="0" STEP="0.05" VAR="h_ctl_roll_max_setpoint" shortname="max_roll" param="H_CTL_ROLL_MAX_SETPOINT"/>
<dl_setting MAX="000" MIN="-25000" STEP="250" VAR="h_ctl_pitch_pgain" shortname="pitch_pgain" param="H_CTL_PITCH_PGAIN"/> <dl_setting MAX="000" MIN="-25000" STEP="250" VAR="h_ctl_pitch_pgain" shortname="pitch_pgain" param="H_CTL_PITCH_PGAIN"/>
<dl_setting MAX="1000" MIN="-1000" STEP="1" VAR="h_ctl_pitch_dgain" shortname="pitch_dgain" param="H_CTL_PITCH_DGAIN"/> <dl_setting MAX="30" MIN="0" STEP="0.1" VAR="h_ctl_pitch_dgain" shortname="pitch_dgain" param="H_CTL_PITCH_DGAIN"/>
<dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_elevator_of_roll" shortname="elevator_of_roll" param="H_CTL_ELEVATOR_OF_ROLL"/> <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_elevator_of_roll" shortname="elevator_of_roll" param="H_CTL_ELEVATOR_OF_ROLL"/>
<dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle"/> <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle"/>
sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
+24
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@@ -38,6 +38,15 @@
#include "estimator.h" #include "estimator.h"
#include "led.h" #include "led.h"
// FIXME Debugging Only
#ifndef DOWNLINK_DEVICE
#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
#endif
#include "mcu_periph/uart.h"
#include "messages.h"
#include "downlink.h"
struct AhrsFloatDCM ahrs_impl; struct AhrsFloatDCM ahrs_impl;
// remotely settable // remotely settable
@@ -105,6 +114,21 @@ void ahrs_update_fw_estimator( void )
estimator_p = Omega_Vector[0]; estimator_p = Omega_Vector[0];
RunOnceEvery(6,DOWNLINK_SEND_RMAT_DEBUG(DefaultChannel,
&(DCM_Matrix[0][0]),
&(DCM_Matrix[0][1]),
&(DCM_Matrix[0][2]),
&(DCM_Matrix[1][0]),
&(DCM_Matrix[1][1]),
&(DCM_Matrix[1][2]),
&(DCM_Matrix[2][0]),
&(DCM_Matrix[2][1]),
&(DCM_Matrix[2][2])
));
// estimator_p = // estimator_p =
} }