Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-06-06 07:53:43 +08:00
Code Issues Actions 27 Packages Projects Releases Wiki Activity

always untilt accels in booz ins

Browse Source
This commit is contained in:
Felix Ruess
2009-08-21 08:25:33 +00:00
parent c3b69389d1
commit a5ac1d166c
4 changed files with 5 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/airframes/booz2_a1.xml
-1
View File
@@ -144,7 +144,6 @@
<section name="INS" prefix="BOOZ_INS_">
<define name="BARO_SENS" value="15." integer="16"/>
<define name="UNTILT_ACCEL" value="1"/>
</section>
<section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
conf/airframes/booz2_a5.xml
-1
View File
@@ -137,7 +137,6 @@
<section name="INS" prefix="BOOZ_INS_">
<define name="BARO_SENS" value="15." integer="16"/>
<define name="UNTILT_ACCEL" value="1"/>
</section>
<section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
conf/airframes/booz2_flixr.xml
-1
View File
@@ -134,7 +134,6 @@
<section name="INS" prefix="BOOZ_INS_">
<define name="BARO_SENS" value="15." integer="16" />
<define name="UNTILT_ACCEL" value="1"/>
</section>
<section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
sw/airborne/booz/booz2_ins.c
+5 -8
View File
@@ -109,19 +109,12 @@ void booz_ins_periodic( void ) {
}
void booz_ins_propagate() {
#ifdef BOOZ_INS_UNTILT_ACCEL
/* untilt accels */
struct Int32Vect3 accel_body;
INT32_RMAT_TRANSP_VMULT(accel_body, booz_imu.body_to_imu_rmat, booz_imu.accel);
struct Int32Vect3 accel_ltp;
INT32_RMAT_TRANSP_VMULT(accel_ltp, booz_ahrs.ltp_to_body_rmat, accel_body);
#ifndef USE_HFF
booz_ins_ltp_accel.x = accel_ltp.x;
booz_ins_ltp_accel.y = accel_ltp.y;
#endif
float z_accel_float = ACCEL_FLOAT_OF_BFP(accel_ltp.z);
#else /* BOOZ_INS_UNTILT_ACCELS */
float z_accel_float = ACCEL_FLOAT_OF_BFP(booz_imu.accel.z);
#endif /* BOOZ_INS_UNTILT_ACCELS */
#ifdef USE_VFF
if (booz2_analog_baro_status == BOOZ2_ANALOG_BARO_RUNNING && booz_ins_baro_initialised) {
@@ -161,7 +154,11 @@ void booz_ins_propagate() {
} else {
b2_hff_ps_counter++;
}
#else
booz_ins_ltp_accel.x = accel_ltp.x;
booz_ins_ltp_accel.y = accel_ltp.y;
#endif /* USE_HFF */
INT32_VECT3_ENU_OF_NED(booz_ins_enu_pos, booz_ins_ltp_pos);
INT32_VECT3_ENU_OF_NED(booz_ins_enu_speed, booz_ins_ltp_speed);
INT32_VECT3_ENU_OF_NED(booz_ins_enu_accel, booz_ins_ltp_accel);