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[ardrone] INS 200Hz progation, extended ins with baro alt0 estimation based on GPS

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Christophe De Wagter
2013-08-28 15:31:59 +02:00
parent 27b872c5a3
commit 5ebb391b03
2 changed files with 3 additions and 2 deletions
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conf/airframes/ardrone2_raw.xml
+2 -1
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@@ -8,6 +8,7 @@
<!--configure name="USE_NEW_I2C_DRIVER" value="1"/ --> <!--configure name="USE_NEW_I2C_DRIVER" value="1"/ -->
<configure name="AHRS_PROPAGATE_FREQUENCY" value="200" /> <configure name="AHRS_PROPAGATE_FREQUENCY" value="200" />
<define name="AHRS_PROPAGATE_FREQUENCY" value="200" /> <define name="AHRS_PROPAGATE_FREQUENCY" value="200" />
<define name="INS_PROPAGATE_FREQUENCY" value="200" />
<define name="USE_BAROMETER" /> <define name="USE_BAROMETER" />
<subsystem name="telemetry" type="udp" /> <subsystem name="telemetry" type="udp" />
<subsystem name="radio_control" type="datalink" /> <subsystem name="radio_control" type="datalink" />
@@ -25,7 +26,7 @@
<subsystem name="gps" type="ublox" /> <subsystem name="gps" type="ublox" />
<subsystem name="stabilization" type="int_quat" /> <subsystem name="stabilization" type="int_quat" />
<subsystem name="ahrs" type="int_cmpl_quat" /> <subsystem name="ahrs" type="int_cmpl_quat" />
<subsystem name="ins" /> <subsystem name="ins" type="extended" />
</firmware> </firmware>
sw/airborne/boards/ardrone/baro_board.c
+1 -1
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@@ -58,7 +58,7 @@ static inline int32_t baro_apply_calibration(int32_t raw)
x2 = (-7357L * p) >> 16; x2 = (-7357L * p) >> 16;
int32_t press = p + ((x1 + x2 + 3791L) >> 4); int32_t press = p + ((x1 + x2 + 3791L) >> 4);
// Zero at sealevel // Zero at sealevel
return press - 101325; return press;
} }
static inline int32_t baro_apply_calibration_temp(int32_t tmp_raw) static inline int32_t baro_apply_calibration_temp(int32_t tmp_raw)