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Activate barometric altitude in fixedwing Disco (#3480)
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* Activate barometric altitude in fixedwing Disco

* Define not in NPS

* Replaced board by sensor driver...

* Fix with drone

* MAG Feedback in AHRS_DSM_FLOAT tested extensively.
This commit is contained in:
Christophe De Wagter
2025-06-27 18:11:54 +02:00
committed by GitHub
parent b91239f7b5
commit b7aad07a04
2 changed files with 21 additions and 5 deletions
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conf/airframes/tudelft/disco.xml
+21 -4
View File
@@ -8,16 +8,24 @@
<firmware name="fixedwing">
<configure name="USE_MAGNETOMETER" value="TRUE"/>
<define name="USE_BAROMETER" value="TRUE"/>
<target name="ap" board="disco">
<configure name="PERIODIC_FREQUENCY" value="120"/>
<module name="radio_control" type="sbus"/>
<configure name="MS5611_I2C_DEV" value="i2c1" />
</target>
<target name="sim" board="pc">
<configure name="SYS_TIME_FREQUENCY" value="120"/>
<configure name="PERIODIC_FREQUENCY" value="60"/>
<module name="radio_control" type="ppm"/>
</target>
<target name="nps" board="pc">
<!-- <configure name="SYS_TIME_FREQUENCY" value="120"/> -->
<configure name="PERIODIC_FREQUENCY" value="60"/>
<module name="radio_control" type="ppm"/>
<module name="fdm" type="jsbsim"/>
</target>
<module name="telemetry" type="transparent_udp"/>
@@ -26,6 +34,9 @@
<module name="gps" type="ublox"/>
<module name="gps" type="ubx_ucenter"/>
<module name="ins" type="alt_float"/>
<module name="baro" type="ms5611_i2c">
<define name="BB_MS5611_TYPE_MS5607" value="TRUE" />
</module>
<module name="airspeed" type="ms45xx_i2c">
<configure name="MS45XX_I2C_DEV" value="i2c1"/>
<define name="MS45XX_PRESSURE_RANVE" value="0.05"/>
@@ -126,6 +137,12 @@
<define name="APP_ANGLE" value="8" unit="deg"/>
</section>
<section name="AIR_DATA" prefix="AIR_DATA_">
<define name="CALC_AMSL_BARO" value="TRUE"/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="0.12"/>
@@ -184,15 +201,15 @@
<define name="PITCH_MAX_SETPOINT" value="30." unit="deg"/>
<define name="PITCH_MIN_SETPOINT" value="-30." unit="deg"/>
<define name="ROLL_ATTITUDE_GAIN" value="11000."/>
<define name="ROLL_RATE_GAIN" value="1000."/>
<define name="ROLL_ATTITUDE_GAIN" value="6000."/>
<define name="ROLL_RATE_GAIN" value="500."/>
<define name="ROLL_IGAIN" value="100."/>
<define name="ROLL_KFFA" value="0"/>
<define name="ROLL_KFFD" value="0"/>
<define name="PITCH_PGAIN" value="17250"/>
<define name="PITCH_PGAIN" value="14250"/>
<define name="PITCH_DGAIN" value="500."/>
<define name="PITCH_IGAIN" value="400"/>
<define name="PITCH_IGAIN" value="300"/>
<define name="PITCH_KFFA" value="0."/>
<define name="PITCH_KFFD" value="0."/>
sw/airborne/modules/ahrs/ahrs_float_dcm.c
-1
View File
@@ -228,7 +228,6 @@ void ahrs_dcm_update_accel(struct FloatVect3 *accel)
void ahrs_dcm_update_mag(struct FloatVect3 *mag)
{
#if USE_MAGNETOMETER
MESSAGE("MAGNETOMETER FEEDBACK NOT TESTED YET")
float cos_roll;
float sin_roll;