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cleanup trailing whitespaces again

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This commit is contained in:
Felix Ruess
2010-12-09 21:23:51 +01:00
parent f556eef4ae
commit a3b15f21de
2 changed files with 41 additions and 47 deletions
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sw/airborne/subsystems/ahrs/dcm/dcm.c
+40 -42
View File
@@ -1,4 +1,3 @@
#include "std.h"
#include "dcm.h"
@@ -15,7 +14,7 @@ float G_Dt=0.05;
float Gyro_Vector[3] = {0,0,0};
float Accel_Vector[3] = {0,0,0};
float Omega_Vector[3]= {0,0,0}; //Corrected Gyro_Vector data
float Omega_Vector[3]= {0,0,0}; //Corrected Gyro_Vector data
float Omega_P[3]= {0,0,0}; //Omega Proportional correction
float Omega_I[3]= {0,0,0}; //Omega Integrator
float Omega[3]= {0,0,0};
@@ -98,23 +97,23 @@ void Normalize(void)
float temporary[3][3];
float renorm=0;
boolean problem=FALSE;
error= -Vector_Dot_Product(&DCM_Matrix[0][0],&DCM_Matrix[1][0])*.5; //eq.19
Vector_Scale(&temporary[0][0], &DCM_Matrix[1][0], error); //eq.19
Vector_Scale(&temporary[1][0], &DCM_Matrix[0][0], error); //eq.19
Vector_Add(&temporary[0][0], &temporary[0][0], &DCM_Matrix[0][0]); //eq.19
Vector_Add(&temporary[1][0], &temporary[1][0], &DCM_Matrix[1][0]); //eq.19
Vector_Cross_Product(&temporary[2][0],&temporary[0][0],&temporary[1][0]); // c= a x b //eq.20
renorm= Vector_Dot_Product(&temporary[0][0],&temporary[0][0]);
renorm= Vector_Dot_Product(&temporary[0][0],&temporary[0][0]);
if (renorm < 1.5625f && renorm > 0.64f) {
renorm= .5 * (3-renorm); //eq.21
} else if (renorm < 100.0f && renorm > 0.01f) {
renorm= 1. / sqrt(renorm);
#if PERFORMANCE_REPORTING == 1
#if PERFORMANCE_REPORTING == 1
renorm_sqrt_count++;
#endif
} else {
@@ -124,13 +123,13 @@ void Normalize(void)
#endif
}
Vector_Scale(&DCM_Matrix[0][0], &temporary[0][0], renorm);
renorm= Vector_Dot_Product(&temporary[1][0],&temporary[1][0]);
renorm= Vector_Dot_Product(&temporary[1][0],&temporary[1][0]);
if (renorm < 1.5625f && renorm > 0.64f) {
renorm= .5 * (3-renorm); //eq.21
} else if (renorm < 100.0f && renorm > 0.01f) {
renorm= 1. / sqrt(renorm);
#if PERFORMANCE_REPORTING == 1
renorm= 1. / sqrt(renorm);
#if PERFORMANCE_REPORTING == 1
renorm_sqrt_count++;
#endif
} else {
@@ -140,23 +139,23 @@ void Normalize(void)
#endif
}
Vector_Scale(&DCM_Matrix[1][0], &temporary[1][0], renorm);
renorm= Vector_Dot_Product(&temporary[2][0],&temporary[2][0]);
renorm= Vector_Dot_Product(&temporary[2][0],&temporary[2][0]);
if (renorm < 1.5625f && renorm > 0.64f) {
renorm= .5 * (3-renorm); //eq.21
} else if (renorm < 100.0f && renorm > 0.01f) {
renorm= 1. / sqrt(renorm);
#if PERFORMANCE_REPORTING == 1
renorm= 1. / sqrt(renorm);
#if PERFORMANCE_REPORTING == 1
renorm_sqrt_count++;
#endif
} else {
problem = TRUE;
problem = TRUE;
#if PERFORMANCE_REPORTING == 1
renorm_blowup_count++;
#endif
}
Vector_Scale(&DCM_Matrix[2][0], &temporary[2][0], renorm);
if (problem) { // Our solution is blowing up and we will force back to initial condition. Hope we are not upside down!
DCM_Matrix[0][0]= 1.0f;
DCM_Matrix[0][1]= 0.0f;
@@ -167,7 +166,7 @@ void Normalize(void)
DCM_Matrix[2][0]= 0.0f;
DCM_Matrix[2][1]= 0.0f;
DCM_Matrix[2][2]= 1.0f;
problem = FALSE;
problem = FALSE;
}
}
@@ -184,7 +183,7 @@ float MAG_Heading;
void Drift_correction(void)
{
//Compensation the Roll, Pitch and Yaw drift.
//Compensation the Roll, Pitch and Yaw drift.
static float Scaled_Omega_P[3];
static float Scaled_Omega_I[3];
float Accel_magnitude;
@@ -212,37 +211,37 @@ void Drift_correction(void)
Accel_magnitude = Accel_magnitude / GRAVITY; // Scale to gravity.
// Dynamic weighting of accelerometer info (reliability filter)
// Weight for accelerometer info (<0.5G = 0.0, 1G = 1.0 , >1.5G = 0.0)
Accel_weight = Chop(1 - 2*fabs(1 - Accel_magnitude),0,1); //
Accel_weight = Chop(1 - 2*fabs(1 - Accel_magnitude),0,1); //
#if PERFORMANCE_REPORTING == 1
{
float tempfloat = ((Accel_weight - 0.5) * 256.0f); //amount added was determined to give imu_health a time constant about twice the time constant of the roll/pitch drift correction
imu_health += tempfloat;
Bound(imu_health,129,65405);
}
#endif
Vector_Cross_Product(&errorRollPitch[0],&Accel_Vector[0],&DCM_Matrix[2][0]); //adjust the ground of reference
Vector_Scale(&Omega_P[0],&errorRollPitch[0],Kp_ROLLPITCH*Accel_weight);
Vector_Scale(&Scaled_Omega_I[0],&errorRollPitch[0],Ki_ROLLPITCH*Accel_weight);
Vector_Add(Omega_I,Omega_I,Scaled_Omega_I);
Vector_Add(Omega_I,Omega_I,Scaled_Omega_I);
//*****YAW***************
#if USE_MAGNETOMETER==1
#if USE_MAGNETOMETER==1
// We make the gyro YAW drift correction based on compass magnetic heading
mag_heading_x = cos(MAG_Heading);
mag_heading_y = sin(MAG_Heading);
errorCourse=(DCM_Matrix[0][0]*mag_heading_y) - (DCM_Matrix[1][0]*mag_heading_x); //Calculating YAW error
Vector_Scale(errorYaw,&DCM_Matrix[2][0],errorCourse); //Applys the yaw correction to the XYZ rotation of the aircraft, depeding the position.
Vector_Scale(&Scaled_Omega_P[0],&errorYaw[0],Kp_YAW);
Vector_Add(Omega_P,Omega_P,Scaled_Omega_P);//Adding Proportional.
Vector_Scale(&Scaled_Omega_I[0],&errorYaw[0],Ki_YAW);
Vector_Add(Omega_I,Omega_I,Scaled_Omega_I);//adding integrator to the Omega_I
Vector_Add(Omega_I,Omega_I,Scaled_Omega_I);//adding integrator to the Omega_I
#else // Use GPS Ground course to correct yaw gyro drift
if(gps_mode==3 && ground_speed>= 0.5) //hwarm
{
@@ -251,12 +250,12 @@ void Drift_correction(void)
COGY = sin(RadOfDeg(ground_course));
errorCourse=(DCM_Matrix[0][0]*COGY) - (DCM_Matrix[1][0]*COGX); //Calculating YAW error
Vector_Scale(errorYaw,&DCM_Matrix[2][0],errorCourse); //Applys the yaw correction to the XYZ rotation of the aircraft, depeding the position.
Vector_Scale(&Scaled_Omega_P[0],&errorYaw[0],Kp_YAW);
Vector_Add(Omega_P,Omega_P,Scaled_Omega_P);//Adding Proportional.
Vector_Scale(&Scaled_Omega_I[0],&errorYaw[0],Ki_YAW);
Vector_Add(Omega_I,Omega_I,Scaled_Omega_I);//adding integrator to the Omega_I
Vector_Add(Omega_I,Omega_I,Scaled_Omega_I);//adding integrator to the Omega_I
}
#endif
// Here we will place a limit on the integrator so that the integrator cannot ever exceed half the saturation limit of the gyros
@@ -264,8 +263,8 @@ void Drift_correction(void)
if (Integrator_magnitude > DegOfRad(300)) {
Vector_Scale(Omega_I,Omega_I,0.5f*DegOfRad(300)/Integrator_magnitude);
}
}
/**************************************************/
@@ -277,11 +276,11 @@ void Matrix_update(void)
if (gps_mode==3) //Remove centrifugal acceleration.
{
Accel_Vector[1] += speed_3d*Omega[2]; // Centrifugal force on Acc_y = GPS_speed*GyroZ
Accel_Vector[2] -= speed_3d*Omega[1]; // Centrifugal force on Acc_z = GPS_speed*GyroY
Accel_Vector[2] -= speed_3d*Omega[1]; // Centrifugal force on Acc_z = GPS_speed*GyroY
}
#if OUTPUTMODE==1 // With corrected data (drift correction)
#if OUTPUTMODE==1 // With corrected data (drift correction)
Update_Matrix[0][0]=0;
Update_Matrix[0][1]=-G_Dt*Omega_Vector[2];//-z
Update_Matrix[0][2]=G_Dt*Omega_Vector[1];//y
@@ -310,7 +309,7 @@ void Matrix_update(void)
for(int y=0; y<3; y++)
{
DCM_Matrix[x][y]+=Temporary_Matrix[x][y];
}
}
}
}
@@ -327,4 +326,3 @@ void Euler_angles(void)
euler.psi += M_PI; // Rotating the angle 180deg to fit for PPRZ
#endif
}
sw/airborne/subsystems/ahrs/dcm/dcm.h
+1 -5
View File
@@ -1,4 +1,3 @@
#include "math/pprz_algebra_float.h"
// Inputs for DCM
@@ -23,7 +22,7 @@ extern struct FloatEulers euler;
//#define Kp_ROLLPITCH 0.2
#define Kp_ROLLPITCH 0.015
#define Ki_ROLLPITCH 0.000010
#define Kp_YAW 1.2 //High yaw drift correction gain - use with caution!
#define Kp_YAW 1.2 //High yaw drift correction gain - use with caution!
#define Ki_YAW 0.00005
#define GRAVITY 9.81
@@ -43,6 +42,3 @@ extern int renorm_sqrt_count;
extern int renorm_blowup_count;
extern float imu_health;
#endif