mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-28 09:58:23 +08:00
[nps] clean sensors params files (#2769)
- try to set the sensor frequency automatically at the correct value - make more parameters configurable - set higher bounds for all sensors to avoid saturation - remove old unused files - update airframe files
This commit is contained in:
Gautier Hattenberger
committed by
GitHub
GitHub
parent
f02dc8abb9
commit
db64a3819c
@@ -121,9 +121,6 @@
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* Barometer
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*/
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/* m */
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/* aka 2^8/INS_BARO_SENS */
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#define NPS_BARO_QNH 1013.25
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#define NPS_BARO_SENSITIVITY 4.0
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#define NPS_BARO_DT (1./5.)
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#define NPS_BARO_NOISE_STD_DEV 5.e-2
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@@ -1,167 +0,0 @@
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/*
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* Copyright (C) 2012 Felix Ruess <felix.ruess@gmail.com>
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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||||
* You should have received a copy of the GNU General Public License
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||||
* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*/
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#ifndef NPS_SENSORS_PARAMS_H
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#define NPS_SENSORS_PARAMS_H
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#include "generated/airframe.h"
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#include "subsystems/imu.h"
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#if 1
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#define NPS_BODY_TO_IMU_PHI IMU_BODY_TO_IMU_PHI
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#define NPS_BODY_TO_IMU_THETA IMU_BODY_TO_IMU_THETA
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#define NPS_BODY_TO_IMU_PSI IMU_BODY_TO_IMU_PSI
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#else
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#define NPS_BODY_TO_IMU_PHI RadOfDeg(0.)
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#define NPS_BODY_TO_IMU_THETA RadOfDeg(0.)
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#define NPS_BODY_TO_IMU_PSI RadOfDeg(0.)
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#endif
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/*
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* Accelerometer
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*/
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/* ADXL345 configured to +-16g with 13bit resolution */
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#define NPS_ACCEL_MIN -4095
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#define NPS_ACCEL_MAX 4095
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/* ms-2 */
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/* aka 2^10/ACCEL_X_SENS */
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#define NPS_ACCEL_SENSITIVITY_XX ACCEL_BFP_OF_REAL(1./37.91)
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#define NPS_ACCEL_SENSITIVITY_YY ACCEL_BFP_OF_REAL(1./37.91)
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#define NPS_ACCEL_SENSITIVITY_ZZ ACCEL_BFP_OF_REAL(1./39.24)
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#define NPS_ACCEL_NEUTRAL_X 0
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#define NPS_ACCEL_NEUTRAL_Y 0
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#define NPS_ACCEL_NEUTRAL_Z 0
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/* m2s-4 */
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#define NPS_ACCEL_NOISE_STD_DEV_X 5.e-2
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#define NPS_ACCEL_NOISE_STD_DEV_Y 5.e-2
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#define NPS_ACCEL_NOISE_STD_DEV_Z 5.e-2
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/* ms-2 */
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#define NPS_ACCEL_BIAS_X 0
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#define NPS_ACCEL_BIAS_Y 0
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#define NPS_ACCEL_BIAS_Z 0
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/* s */
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#define NPS_ACCEL_DT (1./512.)
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/*
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* Gyrometer
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*/
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/* IMU-3000 has 16 bit resolution */
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#define NPS_GYRO_MIN -32767
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#define NPS_GYRO_MAX 32767
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/* 2^12/GYRO_X_SENS */
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#define NPS_GYRO_SENSITIVITY_PP RATE_BFP_OF_REAL(1./4.359)
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#define NPS_GYRO_SENSITIVITY_QQ RATE_BFP_OF_REAL(1./4.359)
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#define NPS_GYRO_SENSITIVITY_RR RATE_BFP_OF_REAL(1./4.359)
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#define NPS_GYRO_NEUTRAL_P 0
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#define NPS_GYRO_NEUTRAL_Q 0
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#define NPS_GYRO_NEUTRAL_R 0
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#define NPS_GYRO_NOISE_STD_DEV_P RadOfDeg(0.)
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#define NPS_GYRO_NOISE_STD_DEV_Q RadOfDeg(0.)
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#define NPS_GYRO_NOISE_STD_DEV_R RadOfDeg(0.)
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#define NPS_GYRO_BIAS_INITIAL_P RadOfDeg( 0.0)
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#define NPS_GYRO_BIAS_INITIAL_Q RadOfDeg( 0.0)
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#define NPS_GYRO_BIAS_INITIAL_R RadOfDeg( 0.0)
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#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_P RadOfDeg(0.5)
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#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_Q RadOfDeg(0.5)
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#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_R RadOfDeg(0.5)
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/* s */
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#define NPS_GYRO_DT (1./512.)
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/*
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* Magnetometer
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*/
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/* HMC5843 has 12 bit resolution */
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#define NPS_MAG_MIN -2047
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#define NPS_MAG_MAX 2047
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#define NPS_MAG_IMU_TO_SENSOR_PHI 0.
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#define NPS_MAG_IMU_TO_SENSOR_THETA 0.
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#define NPS_MAG_IMU_TO_SENSOR_PSI 0.
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#define NPS_MAG_SENSITIVITY_XX IMU_MAG_X_SIGN * MAG_BFP_OF_REAL(1./IMU_MAG_X_SENS)
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#define NPS_MAG_SENSITIVITY_YY IMU_MAG_Y_SIGN * MAG_BFP_OF_REAL(1./IMU_MAG_Y_SENS)
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#define NPS_MAG_SENSITIVITY_ZZ IMU_MAG_Z_SIGN * MAG_BFP_OF_REAL(1./IMU_MAG_Z_SENS)
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#define NPS_MAG_NEUTRAL_X IMU_MAG_X_NEUTRAL
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#define NPS_MAG_NEUTRAL_Y IMU_MAG_Y_NEUTRAL
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#define NPS_MAG_NEUTRAL_Z IMU_MAG_Z_NEUTRAL
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#define NPS_MAG_NOISE_STD_DEV_X 2e-3
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#define NPS_MAG_NOISE_STD_DEV_Y 2e-3
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#define NPS_MAG_NOISE_STD_DEV_Z 2e-3
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#define NPS_MAG_DT (1./100.)
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/*
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* Barometer (pressure and std dev in Pascal)
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*/
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#define NPS_BARO_DT (1./50.)
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#define NPS_BARO_NOISE_STD_DEV 2
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/*
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* GPS
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*/
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#define GPS_PERFECT 1
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#if GPS_PERFECT
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#define NPS_GPS_SPEED_NOISE_STD_DEV 0.
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#define NPS_GPS_SPEED_LATENCY 0.
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#define NPS_GPS_POS_NOISE_STD_DEV 0.001
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#define NPS_GPS_POS_BIAS_INITIAL_X 0.
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#define NPS_GPS_POS_BIAS_INITIAL_Y 0.
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#define NPS_GPS_POS_BIAS_INITIAL_Z 0.
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#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_X 0.
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#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Y 0.
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#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Z 0.
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#define NPS_GPS_POS_LATENCY 0.
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#else
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#define NPS_GPS_SPEED_NOISE_STD_DEV 0.5
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#define NPS_GPS_SPEED_LATENCY 0.2
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#define NPS_GPS_POS_NOISE_STD_DEV 2
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#define NPS_GPS_POS_BIAS_INITIAL_X 0e-1
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#define NPS_GPS_POS_BIAS_INITIAL_Y -0e-1
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#define NPS_GPS_POS_BIAS_INITIAL_Z -0e-1
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#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_X 1e-3
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#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Y 1e-3
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#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Z 1e-3
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#define NPS_GPS_POS_LATENCY 0.2
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#endif /* GPS_PERFECT */
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#define NPS_GPS_DT (1./4.)
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#endif /* NPS_SENSORS_PARAMS_H */
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@@ -1,164 +0,0 @@
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/*
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* $Id$
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*
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* Copyright (C) 2009 Antoine Drouin
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
|
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*
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*/
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#ifndef NPS_SENSORS_PARAMS_H
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#define NPS_SENSORS_PARAMS_H
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#include "generated/airframe.h"
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#if 1
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#define NPS_BODY_TO_IMU_PHI IMU_BODY_TO_IMU_PHI
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#define NPS_BODY_TO_IMU_THETA IMU_BODY_TO_IMU_THETA
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#define NPS_BODY_TO_IMU_PSI IMU_BODY_TO_IMU_PSI
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#else
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#define NPS_BODY_TO_IMU_PHI RadOfDeg(0.)
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#define NPS_BODY_TO_IMU_THETA RadOfDeg(0.)
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#define NPS_BODY_TO_IMU_PSI RadOfDeg(0.)
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#endif
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/*
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* Accelerometer
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*/
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#define NPS_ACCEL_MIN 0
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#define NPS_ACCEL_MAX 65536
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/* ms-2 */
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/* aka 2^10/ACCEL_X_SENS */
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#define NPS_ACCEL_SENSITIVITY_XX ACCEL_BFP_OF_REAL(-1./2.50411474)
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#define NPS_ACCEL_SENSITIVITY_YY ACCEL_BFP_OF_REAL(-1./2.48126183)
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#define NPS_ACCEL_SENSITIVITY_ZZ ACCEL_BFP_OF_REAL(-1./2.51396167)
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#define NPS_ACCEL_NEUTRAL_X 32081
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#define NPS_ACCEL_NEUTRAL_Y 33738
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#define NPS_ACCEL_NEUTRAL_Z 32441
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/* m2s-4 */
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#define NPS_ACCEL_NOISE_STD_DEV_X 5.e-2
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#define NPS_ACCEL_NOISE_STD_DEV_Y 5.e-2
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#define NPS_ACCEL_NOISE_STD_DEV_Z 5.e-2
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/* ms-2 */
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#define NPS_ACCEL_BIAS_X 0
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#define NPS_ACCEL_BIAS_Y 0
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#define NPS_ACCEL_BIAS_Z 0
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/* s */
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#define NPS_ACCEL_DT (1./512.)
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/*
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* Gyrometer
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*/
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#define NPS_GYRO_MIN 0
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#define NPS_GYRO_MAX 65536
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/* 2^12/GYRO_X_SENS */
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#define NPS_GYRO_SENSITIVITY_PP RATE_BFP_OF_REAL( 1./1.01)
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#define NPS_GYRO_SENSITIVITY_QQ RATE_BFP_OF_REAL(-1./1.01)
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#define NPS_GYRO_SENSITIVITY_RR RATE_BFP_OF_REAL(-1./1.01)
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#define NPS_GYRO_NEUTRAL_P 33924
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#define NPS_GYRO_NEUTRAL_Q 33417
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#define NPS_GYRO_NEUTRAL_R 32809
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#define NPS_GYRO_NOISE_STD_DEV_P RadOfDeg(0.)
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#define NPS_GYRO_NOISE_STD_DEV_Q RadOfDeg(0.)
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#define NPS_GYRO_NOISE_STD_DEV_R RadOfDeg(0.)
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#define NPS_GYRO_BIAS_INITIAL_P RadOfDeg( 0.0)
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#define NPS_GYRO_BIAS_INITIAL_Q RadOfDeg( 0.0)
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#define NPS_GYRO_BIAS_INITIAL_R RadOfDeg( 0.0)
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#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_P RadOfDeg(0.5)
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#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_Q RadOfDeg(0.5)
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#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_R RadOfDeg(0.5)
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/* s */
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#define NPS_GYRO_DT (1./512.)
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/*
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* Magnetometer
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*/
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#define NPS_MAG_MIN -32767
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#define NPS_MAG_MAX 32767
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#define NPS_MAG_IMU_TO_SENSOR_PHI 0.
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#define NPS_MAG_IMU_TO_SENSOR_THETA 0.
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#define NPS_MAG_IMU_TO_SENSOR_PSI RadOfDeg(45.)
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#define NPS_MAG_SENSITIVITY_XX MAG_BFP_OF_REAL(-1./4.94075530)
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#define NPS_MAG_SENSITIVITY_YY MAG_BFP_OF_REAL( 1./5.10207664)
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#define NPS_MAG_SENSITIVITY_ZZ MAG_BFP_OF_REAL(-1./4.90788848)
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#define NPS_MAG_NEUTRAL_X 2358
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#define NPS_MAG_NEUTRAL_Y 2362
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#define NPS_MAG_NEUTRAL_Z 2119
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#define NPS_MAG_NOISE_STD_DEV_X 2e-3
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#define NPS_MAG_NOISE_STD_DEV_Y 2e-3
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#define NPS_MAG_NOISE_STD_DEV_Z 2e-3
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#define NPS_MAG_DT (1./100.)
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/*
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* Barometer (pressure and std dev in Pascal)
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*/
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#define NPS_BARO_DT (1./50.)
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#define NPS_BARO_NOISE_STD_DEV 2
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/*
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* GPS
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*/
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#ifdef GPS_PERFECT
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#define NPS_GPS_SPEED_NOISE_STD_DEV 0.
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#define NPS_GPS_SPEED_LATENCY 0.
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#define NPS_GPS_POS_NOISE_STD_DEV 0.001
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#define NPS_GPS_POS_BIAS_INITIAL_X 0.
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#define NPS_GPS_POS_BIAS_INITIAL_Y 0.
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#define NPS_GPS_POS_BIAS_INITIAL_Z 0.
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#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_X 0.
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#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Y 0.
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#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Z 0.
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#define NPS_GPS_POS_LATENCY 0.
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#else
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#define NPS_GPS_SPEED_NOISE_STD_DEV 0.5
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#define NPS_GPS_SPEED_LATENCY 0.2
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#define NPS_GPS_POS_NOISE_STD_DEV 2
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#define NPS_GPS_POS_BIAS_INITIAL_X 0e-1
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#define NPS_GPS_POS_BIAS_INITIAL_Y -0e-1
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#define NPS_GPS_POS_BIAS_INITIAL_Z -0e-1
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#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_X 1e-3
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#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Y 1e-3
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#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Z 1e-3
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#define NPS_GPS_POS_LATENCY 0.2
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#endif /* GPS_PERFECT */
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#define NPS_GPS_DT (1./4.)
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#endif /* NPS_SENSORS_PARAMS_H */
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@@ -1,164 +0,0 @@
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/*
|
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* $Id$
|
||||
*
|
||||
* Copyright (C) 2009 Antoine Drouin
|
||||
*
|
||||
* This file is part of paparazzi.
|
||||
*
|
||||
* paparazzi is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* paparazzi is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
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#ifndef NPS_SENSORS_PARAMS_H
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#define NPS_SENSORS_PARAMS_H
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#include "generated/airframe.h"
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#if 1
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#define NPS_BODY_TO_IMU_PHI IMU_BODY_TO_IMU_PHI
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#define NPS_BODY_TO_IMU_THETA IMU_BODY_TO_IMU_THETA
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#define NPS_BODY_TO_IMU_PSI IMU_BODY_TO_IMU_PSI
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#else
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#define NPS_BODY_TO_IMU_PHI RadOfDeg(0.)
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#define NPS_BODY_TO_IMU_THETA RadOfDeg(0.)
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#define NPS_BODY_TO_IMU_PSI RadOfDeg(0.)
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#endif
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/*
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* Accelerometer
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*/
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#define NPS_ACCEL_MIN 0
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#define NPS_ACCEL_MAX 65536
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/* ms-2 */
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/* aka 2^10/ACCEL_X_SENS */
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#define NPS_ACCEL_SENSITIVITY_XX ACCEL_BFP_OF_REAL(-1./2.50411474)
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#define NPS_ACCEL_SENSITIVITY_YY ACCEL_BFP_OF_REAL(-1./2.48126183)
|
||||
#define NPS_ACCEL_SENSITIVITY_ZZ ACCEL_BFP_OF_REAL(-1./2.51396167)
|
||||
|
||||
#define NPS_ACCEL_NEUTRAL_X 32081
|
||||
#define NPS_ACCEL_NEUTRAL_Y 33738
|
||||
#define NPS_ACCEL_NEUTRAL_Z 32441
|
||||
/* m2s-4 */
|
||||
#define NPS_ACCEL_NOISE_STD_DEV_X 5.e-2
|
||||
#define NPS_ACCEL_NOISE_STD_DEV_Y 5.e-2
|
||||
#define NPS_ACCEL_NOISE_STD_DEV_Z 5.e-2
|
||||
/* ms-2 */
|
||||
#define NPS_ACCEL_BIAS_X 0
|
||||
#define NPS_ACCEL_BIAS_Y 0
|
||||
#define NPS_ACCEL_BIAS_Z 0
|
||||
/* s */
|
||||
#define NPS_ACCEL_DT (1./512.)
|
||||
|
||||
|
||||
|
||||
/*
|
||||
* Gyrometer
|
||||
*/
|
||||
#define NPS_GYRO_MIN 0
|
||||
#define NPS_GYRO_MAX 65536
|
||||
|
||||
/* 2^12/GYRO_X_SENS */
|
||||
#define NPS_GYRO_SENSITIVITY_PP RATE_BFP_OF_REAL( 1./1.01)
|
||||
#define NPS_GYRO_SENSITIVITY_QQ RATE_BFP_OF_REAL(-1./1.01)
|
||||
#define NPS_GYRO_SENSITIVITY_RR RATE_BFP_OF_REAL(-1./1.01)
|
||||
|
||||
#define NPS_GYRO_NEUTRAL_P 33924
|
||||
#define NPS_GYRO_NEUTRAL_Q 33417
|
||||
#define NPS_GYRO_NEUTRAL_R 32809
|
||||
|
||||
#define NPS_GYRO_NOISE_STD_DEV_P RadOfDeg(0.1)
|
||||
#define NPS_GYRO_NOISE_STD_DEV_Q RadOfDeg(0.1)
|
||||
#define NPS_GYRO_NOISE_STD_DEV_R RadOfDeg(0.1)
|
||||
|
||||
#define NPS_GYRO_BIAS_INITIAL_P RadOfDeg( 2.0)
|
||||
#define NPS_GYRO_BIAS_INITIAL_Q RadOfDeg( 1.0)
|
||||
#define NPS_GYRO_BIAS_INITIAL_R RadOfDeg(-5.0)
|
||||
|
||||
#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_P RadOfDeg(0.0)
|
||||
#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_Q RadOfDeg(0.0)
|
||||
#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_R RadOfDeg(0.0)
|
||||
/* s */
|
||||
#define NPS_GYRO_DT (1./512.)
|
||||
|
||||
|
||||
|
||||
/*
|
||||
* Magnetometer
|
||||
*/
|
||||
#define NPS_MAG_MIN -32767
|
||||
#define NPS_MAG_MAX 32767
|
||||
|
||||
#define NPS_MAG_IMU_TO_SENSOR_PHI 0.
|
||||
#define NPS_MAG_IMU_TO_SENSOR_THETA 0.
|
||||
#define NPS_MAG_IMU_TO_SENSOR_PSI 0.
|
||||
|
||||
#define NPS_MAG_SENSITIVITY_XX MAG_BFP_OF_REAL(-1./4.94075530)
|
||||
#define NPS_MAG_SENSITIVITY_YY MAG_BFP_OF_REAL( 1./5.10207664)
|
||||
#define NPS_MAG_SENSITIVITY_ZZ MAG_BFP_OF_REAL(-1./4.90788848)
|
||||
|
||||
#define NPS_MAG_NEUTRAL_X 2358
|
||||
#define NPS_MAG_NEUTRAL_Y 2362
|
||||
#define NPS_MAG_NEUTRAL_Z 2119
|
||||
|
||||
#define NPS_MAG_NOISE_STD_DEV_X 2e-3
|
||||
#define NPS_MAG_NOISE_STD_DEV_Y 2e-3
|
||||
#define NPS_MAG_NOISE_STD_DEV_Z 2e-3
|
||||
|
||||
#define NPS_MAG_DT (1./100.)
|
||||
|
||||
|
||||
/*
|
||||
* Barometer (pressure and std dev in Pascal)
|
||||
*/
|
||||
#define NPS_BARO_DT (1./50.)
|
||||
#define NPS_BARO_NOISE_STD_DEV 2
|
||||
|
||||
|
||||
/*
|
||||
* GPS
|
||||
*/
|
||||
|
||||
#ifdef GPS_PERFECT
|
||||
|
||||
#define NPS_GPS_SPEED_NOISE_STD_DEV 0.
|
||||
#define NPS_GPS_SPEED_LATENCY 0.
|
||||
#define NPS_GPS_POS_NOISE_STD_DEV 0.001
|
||||
#define NPS_GPS_POS_BIAS_INITIAL_X 0.
|
||||
#define NPS_GPS_POS_BIAS_INITIAL_Y 0.
|
||||
#define NPS_GPS_POS_BIAS_INITIAL_Z 0.
|
||||
#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_X 0.
|
||||
#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Y 0.
|
||||
#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Z 0.
|
||||
#define NPS_GPS_POS_LATENCY 0.
|
||||
|
||||
#else
|
||||
|
||||
#define NPS_GPS_SPEED_NOISE_STD_DEV 1
|
||||
#define NPS_GPS_SPEED_LATENCY 0.8
|
||||
#define NPS_GPS_POS_NOISE_STD_DEV 2
|
||||
#define NPS_GPS_POS_BIAS_INITIAL_X 0e-1
|
||||
#define NPS_GPS_POS_BIAS_INITIAL_Y -0e-1
|
||||
#define NPS_GPS_POS_BIAS_INITIAL_Z -0e-1
|
||||
#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_X 1e-3
|
||||
#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Y 1e-3
|
||||
#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Z 1e-3
|
||||
#define NPS_GPS_POS_LATENCY 0.8
|
||||
|
||||
#endif /* GPS_PERFECT */
|
||||
|
||||
#define NPS_GPS_DT (1./4.)
|
||||
|
||||
#endif /* NPS_SENSORS_PARAMS_H */
|
||||
@@ -30,12 +30,27 @@
|
||||
#define NPS_BODY_TO_IMU_THETA IMU_BODY_TO_IMU_THETA
|
||||
#define NPS_BODY_TO_IMU_PSI IMU_BODY_TO_IMU_PSI
|
||||
|
||||
// try to determine propagate frequency
|
||||
#if defined AHRS_PROPAGATE_FREQUENCY
|
||||
#define NPS_PROPAGATE AHRS_PROPAGATE_FREQUENCY
|
||||
#elif defined INS_PROPAGATE_FREQUENCY
|
||||
#define NPS_PROPAGATE INS_PROPAGATE_FREQUENCY
|
||||
#elif defined PERIODIC_FREQUENCY
|
||||
#define NPS_PROPAGATE PERIODIC_FREQUENCY
|
||||
#else
|
||||
#define 512. // historical magic number
|
||||
#endif
|
||||
|
||||
/*
|
||||
* Accelerometer
|
||||
*/
|
||||
/* ADXL345 configured to +-16g with 13bit resolution */
|
||||
#define NPS_ACCEL_MIN -4095
|
||||
#define NPS_ACCEL_MAX 4095
|
||||
/* assume resolution is less than 16 bits, so saturation will not occur */
|
||||
#ifndef NPS_ACCEL_MIN
|
||||
#define NPS_ACCEL_MIN -65536
|
||||
#endif
|
||||
#ifndef NPS_ACCEL_MAX
|
||||
#define NPS_ACCEL_MAX 65536
|
||||
#endif
|
||||
/* ms-2 */
|
||||
/* aka 2^10/ACCEL_X_SENS */
|
||||
#define NPS_ACCEL_SENSITIVITY_XX (IMU_ACCEL_X_SIGN * ACCEL_BFP_OF_REAL(1./IMU_ACCEL_X_SENS))
|
||||
@@ -54,16 +69,22 @@
|
||||
#define NPS_ACCEL_BIAS_Y 0
|
||||
#define NPS_ACCEL_BIAS_Z 0
|
||||
/* s */
|
||||
#define NPS_ACCEL_DT (1./512.)
|
||||
#ifndef NPS_ACCEL_DT
|
||||
#define NPS_ACCEL_DT (1./NPS_PROPAGATE)
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
/*
|
||||
* Gyrometer
|
||||
*/
|
||||
/* IMU-3000 has 16 bit resolution */
|
||||
#define NPS_GYRO_MIN -32767
|
||||
#define NPS_GYRO_MAX 32767
|
||||
/* assume resolution is less than 16 bits, so saturation will not occur */
|
||||
#ifndef NPS_GYRO_MIN
|
||||
#define NPS_GYRO_MIN -65536
|
||||
#endif
|
||||
#ifndef NPS_GYRO_MAX
|
||||
#define NPS_GYRO_MAX 65536
|
||||
#endif
|
||||
|
||||
/* 2^12/GYRO_X_SENS */
|
||||
#define NPS_GYRO_SENSITIVITY_PP (IMU_GYRO_P_SIGN * RATE_BFP_OF_REAL(1./IMU_GYRO_P_SENS))
|
||||
@@ -86,16 +107,22 @@
|
||||
#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_Q RadOfDeg(0.5)
|
||||
#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_R RadOfDeg(0.5)
|
||||
/* s */
|
||||
#define NPS_GYRO_DT (1./512.)
|
||||
#ifndef NPS_GYRO_DT
|
||||
#define NPS_GYRO_DT (1./NPS_PROPAGATE)
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
/*
|
||||
* Magnetometer
|
||||
*/
|
||||
/* Large number to avoid saturation */
|
||||
#define NPS_MAG_MIN -10000000
|
||||
#define NPS_MAG_MAX 10000000
|
||||
/* assume resolution is less than 16 bits, so saturation will not occur */
|
||||
#ifndef NPS_MAG_MIN
|
||||
#define NPS_MAG_MIN -65536
|
||||
#endif
|
||||
#ifndef NPS_MAG_MAX
|
||||
#define NPS_MAG_MAX 65536
|
||||
#endif
|
||||
|
||||
#define NPS_MAG_IMU_TO_SENSOR_PHI 0.
|
||||
#define NPS_MAG_IMU_TO_SENSOR_THETA 0.
|
||||
@@ -113,14 +140,16 @@
|
||||
#define NPS_MAG_NOISE_STD_DEV_Y 2e-3
|
||||
#define NPS_MAG_NOISE_STD_DEV_Z 2e-3
|
||||
|
||||
#ifndef NPS_MAG_DT
|
||||
#define NPS_MAG_DT (1./100.)
|
||||
#endif
|
||||
|
||||
|
||||
/*
|
||||
* Barometer (pressure and std dev in Pascal)
|
||||
*/
|
||||
#define NPS_BARO_DT (1./50.)
|
||||
#define NPS_BARO_NOISE_STD_DEV 2
|
||||
#define NPS_BARO_NOISE_STD_DEV 0.2
|
||||
|
||||
/*
|
||||
* GPS
|
||||
@@ -158,6 +187,8 @@
|
||||
|
||||
#endif /* GPS_PERFECT */
|
||||
|
||||
#define NPS_GPS_DT (1./4.)
|
||||
#ifndef NPS_GPS_DT
|
||||
#define NPS_GPS_DT (1./10.)
|
||||
#endif
|
||||
|
||||
#endif /* NPS_SENSORS_PARAMS_H */
|
||||
|
||||
@@ -1,165 +0,0 @@
|
||||
/*
|
||||
* $Id$
|
||||
*
|
||||
* Copyright (C) 2014 Christoph Niemann
|
||||
*
|
||||
* This file is part of paparazzi.
|
||||
*
|
||||
* paparazzi is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* paparazzi is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef NPS_SENSORS_PARAMS_H
|
||||
#define NPS_SENSORS_PARAMS_H
|
||||
|
||||
#include "generated/airframe.h"
|
||||
|
||||
#if 1
|
||||
#define NPS_BODY_TO_IMU_PHI IMU_BODY_TO_IMU_PHI
|
||||
#define NPS_BODY_TO_IMU_THETA IMU_BODY_TO_IMU_THETA
|
||||
#define NPS_BODY_TO_IMU_PSI IMU_BODY_TO_IMU_PSI
|
||||
#else
|
||||
#define NPS_BODY_TO_IMU_PHI RadOfDeg(0.)
|
||||
#define NPS_BODY_TO_IMU_THETA RadOfDeg(0.)
|
||||
#define NPS_BODY_TO_IMU_PSI RadOfDeg(0.)
|
||||
#endif
|
||||
|
||||
/*
|
||||
* Accelerometer
|
||||
*/
|
||||
#define NPS_ACCEL_MIN 0
|
||||
#define NPS_ACCEL_MAX 65536
|
||||
/* ms-2 */
|
||||
/* aka 2^10/ACCEL_X_SENS */
|
||||
#define NPS_ACCEL_SENSITIVITY_XX ACCEL_BFP_OF_REAL( 1./IMU_ACCEL_X_SENS)
|
||||
#define NPS_ACCEL_SENSITIVITY_YY ACCEL_BFP_OF_REAL( 1./IMU_ACCEL_Y_SENS)
|
||||
#define NPS_ACCEL_SENSITIVITY_ZZ ACCEL_BFP_OF_REAL( 1./IMU_ACCEL_Z_SENS)
|
||||
|
||||
#define NPS_ACCEL_NEUTRAL_X IMU_ACCEL_X_NEUTRAL
|
||||
#define NPS_ACCEL_NEUTRAL_Y IMU_ACCEL_Y_NEUTRAL
|
||||
#define NPS_ACCEL_NEUTRAL_Z IMU_ACCEL_Z_NEUTRAL
|
||||
/* m2s-4 */
|
||||
#define NPS_ACCEL_NOISE_STD_DEV_X 5.e-2
|
||||
#define NPS_ACCEL_NOISE_STD_DEV_Y 5.e-2
|
||||
#define NPS_ACCEL_NOISE_STD_DEV_Z 5.e-2
|
||||
/* ms-2 */
|
||||
#define NPS_ACCEL_BIAS_X 0
|
||||
#define NPS_ACCEL_BIAS_Y 0
|
||||
#define NPS_ACCEL_BIAS_Z 0
|
||||
/* s */
|
||||
#define NPS_ACCEL_DT (1./512.)
|
||||
|
||||
|
||||
|
||||
/*
|
||||
* Gyrometer
|
||||
*/
|
||||
#define NPS_GYRO_MIN 0
|
||||
#define NPS_GYRO_MAX 65536
|
||||
|
||||
/* 2^12/GYRO_X_SENS */
|
||||
#define NPS_GYRO_SENSITIVITY_PP RATE_BFP_OF_REAL( 1./IMU_GYRO_P_SENS)
|
||||
#define NPS_GYRO_SENSITIVITY_QQ RATE_BFP_OF_REAL( 1./IMU_GYRO_Q_SENS)
|
||||
#define NPS_GYRO_SENSITIVITY_RR RATE_BFP_OF_REAL( 1./IMU_GYRO_R_SENS)
|
||||
|
||||
#define NPS_GYRO_NEUTRAL_P IMU_GYRO_P_NEUTRAL
|
||||
#define NPS_GYRO_NEUTRAL_Q IMU_GYRO_Q_NEUTRAL
|
||||
#define NPS_GYRO_NEUTRAL_R IMU_GYRO_R_NEUTRAL
|
||||
|
||||
#define NPS_GYRO_NOISE_STD_DEV_P RadOfDeg(0.)
|
||||
#define NPS_GYRO_NOISE_STD_DEV_Q RadOfDeg(0.)
|
||||
#define NPS_GYRO_NOISE_STD_DEV_R RadOfDeg(0.)
|
||||
|
||||
#define NPS_GYRO_BIAS_INITIAL_P RadOfDeg( 0.0)
|
||||
#define NPS_GYRO_BIAS_INITIAL_Q RadOfDeg( 0.0)
|
||||
#define NPS_GYRO_BIAS_INITIAL_R RadOfDeg( 0.0)
|
||||
|
||||
#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_P RadOfDeg(0.5)
|
||||
#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_Q RadOfDeg(0.5)
|
||||
#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_R RadOfDeg(0.5)
|
||||
/* s */
|
||||
#define NPS_GYRO_DT (1./512.)
|
||||
|
||||
|
||||
|
||||
/*
|
||||
* Magnetometer
|
||||
*/
|
||||
/* HMC5843 has 12 bit resolution */
|
||||
#define NPS_MAG_MIN -2047
|
||||
#define NPS_MAG_MAX 2047
|
||||
|
||||
#define NPS_MAG_IMU_TO_SENSOR_PHI 0.
|
||||
#define NPS_MAG_IMU_TO_SENSOR_THETA 0.
|
||||
#define NPS_MAG_IMU_TO_SENSOR_PSI 0.
|
||||
|
||||
#define NPS_MAG_SENSITIVITY_XX MAG_BFP_OF_REAL(1./IMU_MAG_X_SENS)
|
||||
#define NPS_MAG_SENSITIVITY_YY MAG_BFP_OF_REAL(1./IMU_MAG_Y_SENS)
|
||||
#define NPS_MAG_SENSITIVITY_ZZ MAG_BFP_OF_REAL(1./IMU_MAG_Z_SENS)
|
||||
|
||||
#define NPS_MAG_NEUTRAL_X IMU_MAG_X_NEUTRAL
|
||||
#define NPS_MAG_NEUTRAL_Y IMU_MAG_Y_NEUTRAL
|
||||
#define NPS_MAG_NEUTRAL_Z IMU_MAG_Z_NEUTRAL
|
||||
|
||||
#define NPS_MAG_NOISE_STD_DEV_X 2e-3
|
||||
#define NPS_MAG_NOISE_STD_DEV_Y 2e-3
|
||||
#define NPS_MAG_NOISE_STD_DEV_Z 2e-3
|
||||
|
||||
#define NPS_MAG_DT (1./100.)
|
||||
|
||||
|
||||
/*
|
||||
* Barometer (pressure and std dev in Pascal)
|
||||
*/
|
||||
#define NPS_BARO_DT (1./50.)
|
||||
#define NPS_BARO_NOISE_STD_DEV 2
|
||||
|
||||
|
||||
/*
|
||||
* GPS
|
||||
*/
|
||||
|
||||
#ifdef GPS_PERFECT
|
||||
|
||||
#define NPS_GPS_SPEED_NOISE_STD_DEV 0.
|
||||
#define NPS_GPS_SPEED_LATENCY 0.
|
||||
#define NPS_GPS_POS_NOISE_STD_DEV 0.001
|
||||
#define NPS_GPS_POS_BIAS_INITIAL_X 0.
|
||||
#define NPS_GPS_POS_BIAS_INITIAL_Y 0.
|
||||
#define NPS_GPS_POS_BIAS_INITIAL_Z 0.
|
||||
#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_X 0.
|
||||
#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Y 0.
|
||||
#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Z 0.
|
||||
#define NPS_GPS_POS_LATENCY 0.
|
||||
|
||||
#else
|
||||
|
||||
#define NPS_GPS_SPEED_NOISE_STD_DEV 0.5
|
||||
#define NPS_GPS_SPEED_LATENCY 0.2
|
||||
#define NPS_GPS_POS_NOISE_STD_DEV 2
|
||||
#define NPS_GPS_POS_BIAS_INITIAL_X 0e-1
|
||||
#define NPS_GPS_POS_BIAS_INITIAL_Y -0e-1
|
||||
#define NPS_GPS_POS_BIAS_INITIAL_Z -0e-1
|
||||
#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_X 1e-3
|
||||
#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Y 1e-3
|
||||
#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Z 1e-3
|
||||
#define NPS_GPS_POS_LATENCY 0.2
|
||||
|
||||
#endif /* GPS_PERFECT */
|
||||
|
||||
#define NPS_GPS_DT (1./4.)
|
||||
|
||||
#endif /* NPS_SENSORS_PARAMS_H */
|
||||
@@ -1,168 +0,0 @@
|
||||
/*
|
||||
* Copyright (C) 2013 Felix Ruess, Gautier Hattenberger, JP Condomines
|
||||
*
|
||||
* This file is part of paparazzi.
|
||||
*
|
||||
* paparazzi is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* paparazzi is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*/
|
||||
|
||||
#ifndef NPS_SENSORS_PARAMS_H
|
||||
#define NPS_SENSORS_PARAMS_H
|
||||
|
||||
#include "generated/airframe.h"
|
||||
#include "subsystems/imu.h"
|
||||
|
||||
|
||||
#define NPS_BODY_TO_IMU_PHI IMU_BODY_TO_IMU_PHI
|
||||
#define NPS_BODY_TO_IMU_THETA IMU_BODY_TO_IMU_THETA
|
||||
#define NPS_BODY_TO_IMU_PSI IMU_BODY_TO_IMU_PSI
|
||||
|
||||
/*
|
||||
* Accelerometer
|
||||
*/
|
||||
/* MPU6050 has 16bit resolution */
|
||||
#define NPS_ACCEL_MIN -32767
|
||||
#define NPS_ACCEL_MAX 32767
|
||||
/* ms-2 */
|
||||
/* aka 2^10/ACCEL_X_SENS */
|
||||
#define NPS_ACCEL_SENSITIVITY_XX (IMU_ACCEL_X_SIGN * ACCEL_BFP_OF_REAL(1./IMU_ACCEL_X_SENS))
|
||||
#define NPS_ACCEL_SENSITIVITY_YY (IMU_ACCEL_Y_SIGN * ACCEL_BFP_OF_REAL(1./IMU_ACCEL_Y_SENS))
|
||||
#define NPS_ACCEL_SENSITIVITY_ZZ (IMU_ACCEL_Z_SIGN * ACCEL_BFP_OF_REAL(1./IMU_ACCEL_Z_SENS))
|
||||
|
||||
#define NPS_ACCEL_NEUTRAL_X IMU_ACCEL_X_NEUTRAL
|
||||
#define NPS_ACCEL_NEUTRAL_Y IMU_ACCEL_Y_NEUTRAL
|
||||
#define NPS_ACCEL_NEUTRAL_Z IMU_ACCEL_Z_NEUTRAL
|
||||
/* m2s-4 */
|
||||
#define NPS_ACCEL_NOISE_STD_DEV_X 5.e-2
|
||||
#define NPS_ACCEL_NOISE_STD_DEV_Y 5.e-2
|
||||
#define NPS_ACCEL_NOISE_STD_DEV_Z 5.e-2
|
||||
/* ms-2 */
|
||||
#define NPS_ACCEL_BIAS_X 0
|
||||
#define NPS_ACCEL_BIAS_Y 0
|
||||
#define NPS_ACCEL_BIAS_Z 0
|
||||
/* s */
|
||||
#define NPS_ACCEL_DT (1./125.)
|
||||
|
||||
|
||||
|
||||
/*
|
||||
* Gyrometer
|
||||
*/
|
||||
/* MPU6050 has 16 bit resolution */
|
||||
#define NPS_GYRO_MIN -32767
|
||||
#define NPS_GYRO_MAX 32767
|
||||
|
||||
/* 2^12/GYRO_X_SENS */
|
||||
#define NPS_GYRO_SENSITIVITY_PP (IMU_GYRO_P_SIGN * RATE_BFP_OF_REAL(1./IMU_GYRO_P_SENS))
|
||||
#define NPS_GYRO_SENSITIVITY_QQ (IMU_GYRO_Q_SIGN * RATE_BFP_OF_REAL(1./IMU_GYRO_Q_SENS))
|
||||
#define NPS_GYRO_SENSITIVITY_RR (IMU_GYRO_R_SIGN * RATE_BFP_OF_REAL(1./IMU_GYRO_R_SENS))
|
||||
|
||||
#define NPS_GYRO_NEUTRAL_P IMU_GYRO_P_NEUTRAL
|
||||
#define NPS_GYRO_NEUTRAL_Q IMU_GYRO_Q_NEUTRAL
|
||||
#define NPS_GYRO_NEUTRAL_R IMU_GYRO_R_NEUTRAL
|
||||
|
||||
#define NPS_GYRO_NOISE_STD_DEV_P RadOfDeg(0.)
|
||||
#define NPS_GYRO_NOISE_STD_DEV_Q RadOfDeg(0.)
|
||||
#define NPS_GYRO_NOISE_STD_DEV_R RadOfDeg(0.)
|
||||
|
||||
#define NPS_GYRO_BIAS_INITIAL_P RadOfDeg( 0.0)
|
||||
#define NPS_GYRO_BIAS_INITIAL_Q RadOfDeg( 0.0)
|
||||
#define NPS_GYRO_BIAS_INITIAL_R RadOfDeg( 0.0)
|
||||
|
||||
#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_P RadOfDeg(0.5)
|
||||
#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_Q RadOfDeg(0.5)
|
||||
#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_R RadOfDeg(0.5)
|
||||
/* s */
|
||||
#define NPS_GYRO_DT (1./125.)
|
||||
|
||||
|
||||
|
||||
/*
|
||||
* Magnetometer
|
||||
*/
|
||||
/* HMC5883 has 12 bit resolution */
|
||||
#define NPS_MAG_MIN -2047
|
||||
#define NPS_MAG_MAX 2047
|
||||
|
||||
#define NPS_MAG_IMU_TO_SENSOR_PHI 0.
|
||||
#define NPS_MAG_IMU_TO_SENSOR_THETA 0.
|
||||
#define NPS_MAG_IMU_TO_SENSOR_PSI 0.
|
||||
|
||||
#define NPS_MAG_SENSITIVITY_XX (IMU_MAG_X_SIGN * MAG_BFP_OF_REAL(1./IMU_MAG_X_SENS))
|
||||
#define NPS_MAG_SENSITIVITY_YY (IMU_MAG_Y_SIGN * MAG_BFP_OF_REAL(1./IMU_MAG_Y_SENS))
|
||||
#define NPS_MAG_SENSITIVITY_ZZ (IMU_MAG_Z_SIGN * MAG_BFP_OF_REAL(1./IMU_MAG_Z_SENS))
|
||||
|
||||
#define NPS_MAG_NEUTRAL_X IMU_MAG_X_NEUTRAL
|
||||
#define NPS_MAG_NEUTRAL_Y IMU_MAG_Y_NEUTRAL
|
||||
#define NPS_MAG_NEUTRAL_Z IMU_MAG_Z_NEUTRAL
|
||||
|
||||
#define NPS_MAG_NOISE_STD_DEV_X 2e-3
|
||||
#define NPS_MAG_NOISE_STD_DEV_Y 2e-3
|
||||
#define NPS_MAG_NOISE_STD_DEV_Z 2e-3
|
||||
|
||||
#define NPS_MAG_DT (1./60.)
|
||||
|
||||
|
||||
/*
|
||||
* Barometer
|
||||
*/
|
||||
/* m */
|
||||
/* aka 2^8/INS_BARO_SENS */
|
||||
#define NPS_BARO_QNH 1013.25
|
||||
#define NPS_BARO_SENSITIVITY 4.0
|
||||
#define NPS_BARO_DT (1./5.)
|
||||
#define NPS_BARO_NOISE_STD_DEV 5.e-2
|
||||
|
||||
/*
|
||||
* GPS
|
||||
*/
|
||||
|
||||
#ifndef GPS_PERFECT
|
||||
#define GPS_PERFECT 1
|
||||
#endif
|
||||
|
||||
#if GPS_PERFECT
|
||||
|
||||
#define NPS_GPS_SPEED_NOISE_STD_DEV 0.
|
||||
#define NPS_GPS_SPEED_LATENCY 0.
|
||||
#define NPS_GPS_POS_NOISE_STD_DEV 0.001
|
||||
#define NPS_GPS_POS_BIAS_INITIAL_X 0.
|
||||
#define NPS_GPS_POS_BIAS_INITIAL_Y 0.
|
||||
#define NPS_GPS_POS_BIAS_INITIAL_Z 0.
|
||||
#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_X 0.
|
||||
#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Y 0.
|
||||
#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Z 0.
|
||||
#define NPS_GPS_POS_LATENCY 0.
|
||||
|
||||
#else
|
||||
|
||||
#define NPS_GPS_SPEED_NOISE_STD_DEV 0.5
|
||||
#define NPS_GPS_SPEED_LATENCY 0.2
|
||||
#define NPS_GPS_POS_NOISE_STD_DEV 2
|
||||
#define NPS_GPS_POS_BIAS_INITIAL_X 0e-1
|
||||
#define NPS_GPS_POS_BIAS_INITIAL_Y -0e-1
|
||||
#define NPS_GPS_POS_BIAS_INITIAL_Z -0e-1
|
||||
#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_X 1e-3
|
||||
#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Y 1e-3
|
||||
#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Z 1e-3
|
||||
#define NPS_GPS_POS_LATENCY 0.2
|
||||
|
||||
#endif /* GPS_PERFECT */
|
||||
|
||||
#define NPS_GPS_DT (1./5.)
|
||||
|
||||
#endif /* NPS_SENSORS_PARAMS_H */
|
||||
|
||||
@@ -1,163 +0,0 @@
|
||||
/*
|
||||
* Copyright (C) 2012 Felix Ruess <felix.ruess@gmail.com>
|
||||
*
|
||||
* This file is part of paparazzi.
|
||||
*
|
||||
* paparazzi is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* paparazzi is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*/
|
||||
|
||||
#ifndef NPS_SENSORS_PARAMS_H
|
||||
#define NPS_SENSORS_PARAMS_H
|
||||
|
||||
#include "generated/airframe.h"
|
||||
#include "subsystems/imu.h"
|
||||
|
||||
|
||||
#define NPS_BODY_TO_IMU_PHI IMU_BODY_TO_IMU_PHI
|
||||
#define NPS_BODY_TO_IMU_THETA IMU_BODY_TO_IMU_THETA
|
||||
#define NPS_BODY_TO_IMU_PSI IMU_BODY_TO_IMU_PSI
|
||||
|
||||
/*
|
||||
* Accelerometer
|
||||
*/
|
||||
/* ADXL345 configured to +-16g with 13bit resolution */
|
||||
#define NPS_ACCEL_MIN -4095
|
||||
#define NPS_ACCEL_MAX 4095
|
||||
/* ms-2 */
|
||||
/* aka 2^10/ACCEL_X_SENS */
|
||||
#define NPS_ACCEL_SENSITIVITY_XX (IMU_ACCEL_X_SIGN * ACCEL_BFP_OF_REAL(1./IMU_ACCEL_X_SENS))
|
||||
#define NPS_ACCEL_SENSITIVITY_YY (IMU_ACCEL_Y_SIGN * ACCEL_BFP_OF_REAL(1./IMU_ACCEL_Y_SENS))
|
||||
#define NPS_ACCEL_SENSITIVITY_ZZ (IMU_ACCEL_Z_SIGN * ACCEL_BFP_OF_REAL(1./IMU_ACCEL_Z_SENS))
|
||||
|
||||
#define NPS_ACCEL_NEUTRAL_X IMU_ACCEL_X_NEUTRAL
|
||||
#define NPS_ACCEL_NEUTRAL_Y IMU_ACCEL_Y_NEUTRAL
|
||||
#define NPS_ACCEL_NEUTRAL_Z IMU_ACCEL_Z_NEUTRAL
|
||||
/* m2s-4 */
|
||||
#define NPS_ACCEL_NOISE_STD_DEV_X 5.e-2
|
||||
#define NPS_ACCEL_NOISE_STD_DEV_Y 5.e-2
|
||||
#define NPS_ACCEL_NOISE_STD_DEV_Z 5.e-2
|
||||
/* ms-2 */
|
||||
#define NPS_ACCEL_BIAS_X 0
|
||||
#define NPS_ACCEL_BIAS_Y 0
|
||||
#define NPS_ACCEL_BIAS_Z 0
|
||||
/* s */
|
||||
#define NPS_ACCEL_DT (1./512.)
|
||||
|
||||
|
||||
|
||||
/*
|
||||
* Gyrometer
|
||||
*/
|
||||
/* IMU-3000 has 16 bit resolution */
|
||||
#define NPS_GYRO_MIN -32767
|
||||
#define NPS_GYRO_MAX 32767
|
||||
|
||||
/* 2^12/GYRO_X_SENS */
|
||||
#define NPS_GYRO_SENSITIVITY_PP (IMU_GYRO_P_SIGN * RATE_BFP_OF_REAL(1./IMU_GYRO_P_SENS))
|
||||
#define NPS_GYRO_SENSITIVITY_QQ (IMU_GYRO_Q_SIGN * RATE_BFP_OF_REAL(1./IMU_GYRO_Q_SENS))
|
||||
#define NPS_GYRO_SENSITIVITY_RR (IMU_GYRO_R_SIGN * RATE_BFP_OF_REAL(1./IMU_GYRO_R_SENS))
|
||||
|
||||
#define NPS_GYRO_NEUTRAL_P IMU_GYRO_P_NEUTRAL
|
||||
#define NPS_GYRO_NEUTRAL_Q IMU_GYRO_Q_NEUTRAL
|
||||
#define NPS_GYRO_NEUTRAL_R IMU_GYRO_R_NEUTRAL
|
||||
|
||||
#define NPS_GYRO_NOISE_STD_DEV_P RadOfDeg(0.)
|
||||
#define NPS_GYRO_NOISE_STD_DEV_Q RadOfDeg(0.)
|
||||
#define NPS_GYRO_NOISE_STD_DEV_R RadOfDeg(0.)
|
||||
|
||||
#define NPS_GYRO_BIAS_INITIAL_P RadOfDeg( 0.0)
|
||||
#define NPS_GYRO_BIAS_INITIAL_Q RadOfDeg( 0.0)
|
||||
#define NPS_GYRO_BIAS_INITIAL_R RadOfDeg( 0.0)
|
||||
|
||||
#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_P RadOfDeg(0.5)
|
||||
#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_Q RadOfDeg(0.5)
|
||||
#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_R RadOfDeg(0.5)
|
||||
/* s */
|
||||
#define NPS_GYRO_DT (1./512.)
|
||||
|
||||
|
||||
|
||||
/*
|
||||
* Magnetometer
|
||||
*/
|
||||
/* HMC5843 has 12 bit resolution */
|
||||
#define NPS_MAG_MIN -2047
|
||||
#define NPS_MAG_MAX 2047
|
||||
|
||||
#define NPS_MAG_IMU_TO_SENSOR_PHI 0.
|
||||
#define NPS_MAG_IMU_TO_SENSOR_THETA 0.
|
||||
#define NPS_MAG_IMU_TO_SENSOR_PSI 0.
|
||||
|
||||
#define NPS_MAG_SENSITIVITY_XX (IMU_MAG_X_SIGN * MAG_BFP_OF_REAL(1./IMU_MAG_X_SENS))
|
||||
#define NPS_MAG_SENSITIVITY_YY (IMU_MAG_Y_SIGN * MAG_BFP_OF_REAL(1./IMU_MAG_Y_SENS))
|
||||
#define NPS_MAG_SENSITIVITY_ZZ (IMU_MAG_Z_SIGN * MAG_BFP_OF_REAL(1./IMU_MAG_Z_SENS))
|
||||
|
||||
#define NPS_MAG_NEUTRAL_X IMU_MAG_X_NEUTRAL
|
||||
#define NPS_MAG_NEUTRAL_Y IMU_MAG_Y_NEUTRAL
|
||||
#define NPS_MAG_NEUTRAL_Z IMU_MAG_Z_NEUTRAL
|
||||
|
||||
#define NPS_MAG_NOISE_STD_DEV_X 2e-3
|
||||
#define NPS_MAG_NOISE_STD_DEV_Y 2e-3
|
||||
#define NPS_MAG_NOISE_STD_DEV_Z 2e-3
|
||||
|
||||
#define NPS_MAG_DT (1./100.)
|
||||
|
||||
|
||||
/*
|
||||
* Barometer (pressure and std dev in Pascal)
|
||||
*/
|
||||
#define NPS_BARO_DT (1./50.)
|
||||
#define NPS_BARO_NOISE_STD_DEV 2
|
||||
|
||||
/*
|
||||
* GPS
|
||||
*/
|
||||
|
||||
#ifndef GPS_PERFECT
|
||||
#define GPS_PERFECT 1
|
||||
#endif
|
||||
|
||||
#if GPS_PERFECT
|
||||
|
||||
#define NPS_GPS_SPEED_NOISE_STD_DEV 0.
|
||||
#define NPS_GPS_SPEED_LATENCY 0.
|
||||
#define NPS_GPS_POS_NOISE_STD_DEV 0.001
|
||||
#define NPS_GPS_POS_BIAS_INITIAL_X 0.
|
||||
#define NPS_GPS_POS_BIAS_INITIAL_Y 0.
|
||||
#define NPS_GPS_POS_BIAS_INITIAL_Z 0.
|
||||
#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_X 0.
|
||||
#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Y 0.
|
||||
#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Z 0.
|
||||
#define NPS_GPS_POS_LATENCY 0.
|
||||
|
||||
#else
|
||||
|
||||
#define NPS_GPS_SPEED_NOISE_STD_DEV 0.5
|
||||
#define NPS_GPS_SPEED_LATENCY 0.2
|
||||
#define NPS_GPS_POS_NOISE_STD_DEV 2
|
||||
#define NPS_GPS_POS_BIAS_INITIAL_X 0e-1
|
||||
#define NPS_GPS_POS_BIAS_INITIAL_Y -0e-1
|
||||
#define NPS_GPS_POS_BIAS_INITIAL_Z -0e-1
|
||||
#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_X 1e-3
|
||||
#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Y 1e-3
|
||||
#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Z 1e-3
|
||||
#define NPS_GPS_POS_LATENCY 0.2
|
||||
|
||||
#endif /* GPS_PERFECT */
|
||||
|
||||
#define NPS_GPS_DT (1./512.)
|
||||
|
||||
#endif /* NPS_SENSORS_PARAMS_H */
|
||||
@@ -1,171 +0,0 @@
|
||||
/*
|
||||
* Copyright (C) 2016 Gautier Hattenberger
|
||||
*
|
||||
* This file is part of paparazzi.
|
||||
*
|
||||
* paparazzi is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* paparazzi is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*/
|
||||
|
||||
#ifndef NPS_SENSORS_PARAMS_H
|
||||
#define NPS_SENSORS_PARAMS_H
|
||||
|
||||
#include "generated/airframe.h"
|
||||
#include "subsystems/imu.h"
|
||||
|
||||
|
||||
#define NPS_BODY_TO_IMU_PHI IMU_BODY_TO_IMU_PHI
|
||||
#define NPS_BODY_TO_IMU_THETA IMU_BODY_TO_IMU_THETA
|
||||
#define NPS_BODY_TO_IMU_PSI IMU_BODY_TO_IMU_PSI
|
||||
|
||||
/*
|
||||
* Accelerometer
|
||||
*/
|
||||
/* MPU60x0 has 16bit resolution */
|
||||
#define NPS_ACCEL_MIN -32767
|
||||
#define NPS_ACCEL_MAX 32767
|
||||
/* ms-2 */
|
||||
/* aka 2^10/ACCEL_X_SENS */
|
||||
#define NPS_ACCEL_SENSITIVITY_XX (IMU_ACCEL_X_SIGN * ACCEL_BFP_OF_REAL(1./IMU_ACCEL_X_SENS))
|
||||
#define NPS_ACCEL_SENSITIVITY_YY (IMU_ACCEL_Y_SIGN * ACCEL_BFP_OF_REAL(1./IMU_ACCEL_Y_SENS))
|
||||
#define NPS_ACCEL_SENSITIVITY_ZZ (IMU_ACCEL_Z_SIGN * ACCEL_BFP_OF_REAL(1./IMU_ACCEL_Z_SENS))
|
||||
|
||||
#define NPS_ACCEL_NEUTRAL_X IMU_ACCEL_X_NEUTRAL
|
||||
#define NPS_ACCEL_NEUTRAL_Y IMU_ACCEL_Y_NEUTRAL
|
||||
#define NPS_ACCEL_NEUTRAL_Z IMU_ACCEL_Z_NEUTRAL
|
||||
/* m2s-4 */
|
||||
#define NPS_ACCEL_NOISE_STD_DEV_X 5.e-2
|
||||
#define NPS_ACCEL_NOISE_STD_DEV_Y 5.e-2
|
||||
#define NPS_ACCEL_NOISE_STD_DEV_Z 5.e-2
|
||||
/* ms-2 */
|
||||
#define NPS_ACCEL_BIAS_X 0
|
||||
#define NPS_ACCEL_BIAS_Y 0
|
||||
#define NPS_ACCEL_BIAS_Z 0
|
||||
/* s */
|
||||
#ifndef NPS_ACCEL_DT
|
||||
#define NPS_ACCEL_DT (1./125.)
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
/*
|
||||
* Gyrometer
|
||||
*/
|
||||
/* MPU60x0 has 16 bit resolution */
|
||||
#define NPS_GYRO_MIN -32767
|
||||
#define NPS_GYRO_MAX 32767
|
||||
|
||||
/* 2^12/GYRO_X_SENS */
|
||||
#define NPS_GYRO_SENSITIVITY_PP (IMU_GYRO_P_SIGN * RATE_BFP_OF_REAL(1./IMU_GYRO_P_SENS))
|
||||
#define NPS_GYRO_SENSITIVITY_QQ (IMU_GYRO_Q_SIGN * RATE_BFP_OF_REAL(1./IMU_GYRO_Q_SENS))
|
||||
#define NPS_GYRO_SENSITIVITY_RR (IMU_GYRO_R_SIGN * RATE_BFP_OF_REAL(1./IMU_GYRO_R_SENS))
|
||||
|
||||
#define NPS_GYRO_NEUTRAL_P IMU_GYRO_P_NEUTRAL
|
||||
#define NPS_GYRO_NEUTRAL_Q IMU_GYRO_Q_NEUTRAL
|
||||
#define NPS_GYRO_NEUTRAL_R IMU_GYRO_R_NEUTRAL
|
||||
|
||||
#define NPS_GYRO_NOISE_STD_DEV_P RadOfDeg(0.)
|
||||
#define NPS_GYRO_NOISE_STD_DEV_Q RadOfDeg(0.)
|
||||
#define NPS_GYRO_NOISE_STD_DEV_R RadOfDeg(0.)
|
||||
|
||||
#define NPS_GYRO_BIAS_INITIAL_P RadOfDeg( 0.0)
|
||||
#define NPS_GYRO_BIAS_INITIAL_Q RadOfDeg( 0.0)
|
||||
#define NPS_GYRO_BIAS_INITIAL_R RadOfDeg( 0.0)
|
||||
|
||||
#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_P RadOfDeg(0.5)
|
||||
#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_Q RadOfDeg(0.5)
|
||||
#define NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_R RadOfDeg(0.5)
|
||||
/* s */
|
||||
#ifndef NPS_GYRO_DT
|
||||
#define NPS_GYRO_DT (1./125.)
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
/*
|
||||
* Magnetometer
|
||||
*/
|
||||
/* HMC5843 has 12 bit resolution */
|
||||
#define NPS_MAG_MIN -2047
|
||||
#define NPS_MAG_MAX 2047
|
||||
|
||||
#define NPS_MAG_IMU_TO_SENSOR_PHI 0.
|
||||
#define NPS_MAG_IMU_TO_SENSOR_THETA 0.
|
||||
#define NPS_MAG_IMU_TO_SENSOR_PSI 0.
|
||||
|
||||
#define NPS_MAG_SENSITIVITY_XX (IMU_MAG_X_SIGN * MAG_BFP_OF_REAL(1./IMU_MAG_X_SENS))
|
||||
#define NPS_MAG_SENSITIVITY_YY (IMU_MAG_Y_SIGN * MAG_BFP_OF_REAL(1./IMU_MAG_Y_SENS))
|
||||
#define NPS_MAG_SENSITIVITY_ZZ (IMU_MAG_Z_SIGN * MAG_BFP_OF_REAL(1./IMU_MAG_Z_SENS))
|
||||
|
||||
#define NPS_MAG_NEUTRAL_X IMU_MAG_X_NEUTRAL
|
||||
#define NPS_MAG_NEUTRAL_Y IMU_MAG_Y_NEUTRAL
|
||||
#define NPS_MAG_NEUTRAL_Z IMU_MAG_Z_NEUTRAL
|
||||
|
||||
#define NPS_MAG_NOISE_STD_DEV_X 2e-3
|
||||
#define NPS_MAG_NOISE_STD_DEV_Y 2e-3
|
||||
#define NPS_MAG_NOISE_STD_DEV_Z 2e-3
|
||||
|
||||
#define NPS_MAG_DT (1./60.)
|
||||
|
||||
|
||||
/*
|
||||
* Barometer
|
||||
*/
|
||||
/* m */
|
||||
/* aka 2^8/INS_BARO_SENS */
|
||||
#define NPS_BARO_QNH 1013.25
|
||||
#define NPS_BARO_SENSITIVITY 4.0
|
||||
#define NPS_BARO_DT (1./5.)
|
||||
#define NPS_BARO_NOISE_STD_DEV 5.e-2
|
||||
|
||||
/*
|
||||
* GPS
|
||||
*/
|
||||
|
||||
#ifndef GPS_PERFECT
|
||||
#define GPS_PERFECT 1
|
||||
#endif
|
||||
|
||||
#if GPS_PERFECT
|
||||
|
||||
#define NPS_GPS_SPEED_NOISE_STD_DEV 0.
|
||||
#define NPS_GPS_SPEED_LATENCY 0.
|
||||
#define NPS_GPS_POS_NOISE_STD_DEV 0.001
|
||||
#define NPS_GPS_POS_BIAS_INITIAL_X 0.
|
||||
#define NPS_GPS_POS_BIAS_INITIAL_Y 0.
|
||||
#define NPS_GPS_POS_BIAS_INITIAL_Z 0.
|
||||
#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_X 0.
|
||||
#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Y 0.
|
||||
#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Z 0.
|
||||
#define NPS_GPS_POS_LATENCY 0.
|
||||
|
||||
#else
|
||||
|
||||
#define NPS_GPS_SPEED_NOISE_STD_DEV 0.5
|
||||
#define NPS_GPS_SPEED_LATENCY 0.2
|
||||
#define NPS_GPS_POS_NOISE_STD_DEV 2
|
||||
#define NPS_GPS_POS_BIAS_INITIAL_X 0e-1
|
||||
#define NPS_GPS_POS_BIAS_INITIAL_Y -0e-1
|
||||
#define NPS_GPS_POS_BIAS_INITIAL_Z -0e-1
|
||||
#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_X 1e-3
|
||||
#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Y 1e-3
|
||||
#define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Z 1e-3
|
||||
#define NPS_GPS_POS_LATENCY 0.2
|
||||
|
||||
#endif /* GPS_PERFECT */
|
||||
|
||||
#define NPS_GPS_DT (1./5.)
|
||||
|
||||
#endif /* NPS_SENSORS_PARAMS_H */
|
||||
Reference in New Issue
Block a user