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Kalman filter at 100Hz does not work

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This commit is contained in:
Christophe De Wagter
2011-05-12 23:16:20 +02:00
parent 331c474d51
commit 76ffcf4298
2 changed files with 2 additions and 6 deletions
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conf/airframes/TU_Delft/skywalker.xml
+1 -5
View File
@@ -98,7 +98,7 @@
<define name="CONTROL_RATE" value="60" unit="Hz"/> <define name="CONTROL_RATE" value="60" unit="Hz"/>
<define name="XBEE_INIT" value="&quot;ATPL2\rATRN5\rATTT80\r&quot;"/> <define name="XBEE_INIT" value="&quot;ATPL2\rATRN5\rATTT80\r&quot;"/>
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> --> <!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
<define name="ALT_KALMAN_ENABLED" value="TRUE"/> <!-- <define name="ALT_KALMAN_ENABLED" value="TRUE"/> -->
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/> <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
@@ -204,10 +204,6 @@
<define name="WIND_INFO"/> <define name="WIND_INFO"/>
<define name="WIND_INFO_RET"/> <define name="WIND_INFO_RET"/>
<define name="LOITER_TRIM"/> <define name="LOITER_TRIM"/>
<!--
<define name="ALT_KALMAN"/>
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
-->
</target> </target>
<target name="sim" board="pc"/> <target name="sim" board="pc"/>
sw/airborne/modules/ins/ins_xsens.c
+1 -1
View File
@@ -247,7 +247,7 @@ void handle_ins_msg( void) {
{ {
fspeed = 0; fspeed = 0;
} }
float fclimb = -ins_vz * ; float fclimb = -ins_vz;
float fcourse = atan2f((float)ins_vy, (float)ins_vx); float fcourse = atan2f((float)ins_vy, (float)ins_vx);
EstimatorSetSpeedPol(fspeed, fcourse, fclimb); EstimatorSetSpeedPol(fspeed, fcourse, fclimb);