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some unimportant work on ahrs....

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jpdumont
2005-08-31 22:50:49 +00:00
parent c4f54dda8a
commit 81b6afc96e
2 changed files with 17 additions and 6 deletions
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conf/airframes/gorazoptere_brushless_ANALOG.xml
+10
View File
@@ -8,6 +8,12 @@
<define name="ADC_ROLL_DOT_SIGN" value="+"/>
<define name="ADC_PITCH_DOT_SIGN" value="-"/>
<define name="ADC_YAW_DOT_SIGN" value="-"/>
<define name="ADC_ROLL_DOT_ZERO" value="512"/>
<define name="ADC_PITCH_DOT_ZERO" value="512"/>
<define name="ADC_YAW_DOT_ZERO" value="512"/>
<define name="ADC_ROLL_DOT_SCALE" value="(real_t) (0.9444 * 3.14159 / 180.0)"/>
<define name="ADC_PITCH_DOT_SCALE" value="(real_t) (0.9444 * 3.14159 / 180.0)"/>
<define name="ADC_YAW_DOT_SCALE" value="(real_t) (0.9444 * 3.14159 / 180.0)"/>
<define name="ADC_ACCELX" value="3"/>
<define name="ADC_ACCELY" value="4"/>
<define name="ADC_ACCELZ" value="5"/>
@@ -17,6 +23,10 @@
<define name="ADC_ACCELX_ZERO" value="0x24A"/>
<define name="ADC_ACCELY_ZERO" value="0x280"/>
<define name="ADC_ACCELZ_ZERO" value="0x210"/>
<define name="ADC_ACCELX_SCALE" value="0x24A"/>
<define name="ADC_ACCELY_SCALE" value="0x280"/>
<define name="ADC_ACCELZ_SCALE" value="0x210"/>
</section>
<section name="RATE_LOOP">
<define name="ROLL_DOT_PGAIN" value="-192."/>
sw/airborne/autopilot/ahrs.c
+7 -6
View File
@@ -32,7 +32,7 @@
* frequency with which ahrs_state_update() is called with the body
* angular rates.
*/
#define dt 0.04
#define dt 0.05 //0.04
#define CONFIG_SPLIT_COVARIANCE
#ifdef CONFIG_SPLIT_COVARIANCE
@@ -66,8 +66,8 @@
//#define IMU_INIT_EULER_DOT_VARIANCE_MAX 2
//#define IMU_INIT_EULER_DOT_NB_SAMPLES_MIN 10
#define GYRO_SCALE (real_t) (0.9444 * 3.14159 / 180.0)
#define GYRO_ZERO 0x200
//#define GYRO_SCALE (real_t) (0.9444 * 3.14159 / 180.0)
//#define GYRO_ZERO 0x200
/*
@@ -1029,9 +1029,10 @@ void ahrs_save_pqr_from_fbw( void )
{
//we take the gyro data from the spi data
//No transformation is needed for pqr
pqr[0] = from_fbw.euler_dot[0];
pqr[1] = from_fbw.euler_dot[1];
pqr[2] = from_fbw.euler_dot[2];
//FBW not scale the data for the moment so we transform here
pqr[0] = from_fbw.euler_dot[0] /** IMU_ADC_ROLL_DOT_SIGN IMU_ADC_ROLL_DOT_SCALE*/;
pqr[1] = from_fbw.euler_dot[1] /** IMU_ADC_PITCH_DOT_SIGN IMU_ADC_PITCH_DOT_SCALE*/;
pqr[2] = from_fbw.euler_dot[2] /** IMU_ADC_YAW_DOT_SIGN IMU_ADC_YAW_DOT_SCALE*/;
}