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Antoine Drouin
2008-07-08 02:48:43 +00:00
parent 6e4db3f1dd
commit dabb2360aa
3 changed files with 13 additions and 8 deletions
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conf/airframes/booz2.xml
+2 -2
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@@ -78,8 +78,8 @@
<define name="ACCEL_Z_NEUTRAL" value="32768"/> <define name="ACCEL_Z_NEUTRAL" value="32768"/>
<define name="ACCEL_X_SENS" value="( 1250.)"/> <define name="ACCEL_X_SENS" value="( 1250.)"/>
<define name="ACCEL_Y_SENS" value="(-1250.)"/> <define name="ACCEL_Y_SENS" value="( 1250.)"/>
<define name="ACCEL_Z_SENS" value="(-1250.)"/> <define name="ACCEL_Z_SENS" value="( 1250.)"/>
<define name="MAG_X_CHAN" value="0"/> <define name="MAG_X_CHAN" value="0"/>
sw/simulator/booz_sensors_model_accel.c
+1 -1
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@@ -91,11 +91,11 @@ void booz_sensors_model_accel_run( double time, MAT* dcm ) {
accel_body->ve[AXIS_X], accel_body->ve[AXIS_X],
accel_body->ve[AXIS_Y], accel_body->ve[AXIS_Y],
accel_body->ve[AXIS_Z]); accel_body->ve[AXIS_Z]);
#endif
accel_body = mv_mlt(dcm, g_inert, accel_body); accel_body = mv_mlt(dcm, g_inert, accel_body);
accel_body = sv_mlt(-1., accel_body, accel_body); accel_body = sv_mlt(-1., accel_body, accel_body);
#endif
// printf(" accel_body ~ %f %f %f\n", accel_body->ve[AXIS_X], accel_body->ve[AXIS_Y], accel_body->ve[AXIS_Z]); // printf(" accel_body ~ %f %f %f\n", accel_body->ve[AXIS_X], accel_body->ve[AXIS_Y], accel_body->ve[AXIS_Z]);
#endif #endif
sw/simulator/booz_sensors_model_params_booz2.h
+10 -5
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@@ -31,15 +31,20 @@
#define BSM_ACCEL_RESOLUTION (65536) #define BSM_ACCEL_RESOLUTION (65536)
/* ms-2 */ /* ms-2 */
#define BSM_ACCEL_SENSITIVITY_XX 1250. #define BSM_ACCEL_SENSITIVITY_XX 1250.
#define BSM_ACCEL_SENSITIVITY_YY -1250. #define BSM_ACCEL_SENSITIVITY_YY 1250.
#define BSM_ACCEL_SENSITIVITY_ZZ -1250. #define BSM_ACCEL_SENSITIVITY_ZZ 1250.
#define BSM_ACCEL_NEUTRAL_X 32768 #define BSM_ACCEL_NEUTRAL_X 32768
#define BSM_ACCEL_NEUTRAL_Y 32768 #define BSM_ACCEL_NEUTRAL_Y 32768
#define BSM_ACCEL_NEUTRAL_Z 32768 #define BSM_ACCEL_NEUTRAL_Z 32768
/* m2s-4 */ /* m2s-4 */
#define BSM_ACCEL_NOISE_STD_DEV_X 0 //#define BSM_ACCEL_NOISE_STD_DEV_X 0
#define BSM_ACCEL_NOISE_STD_DEV_Y 0 //#define BSM_ACCEL_NOISE_STD_DEV_Y 0
#define BSM_ACCEL_NOISE_STD_DEV_Z 0 //#define BSM_ACCEL_NOISE_STD_DEV_Z 0
#define BSM_ACCEL_NOISE_STD_DEV_X 5e-1
#define BSM_ACCEL_NOISE_STD_DEV_Y 5e-1
#define BSM_ACCEL_NOISE_STD_DEV_Z 5e-1
/* ms-2 */ /* ms-2 */
#define BSM_ACCEL_BIAS_X 0 #define BSM_ACCEL_BIAS_X 0
#define BSM_ACCEL_BIAS_Y 0 #define BSM_ACCEL_BIAS_Y 0