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[imu] Fix new imu structure

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This commit is contained in:
Freek van Tienen
2022-05-18 13:21:22 +02:00
parent 7c7cfbc395
commit ff37e63af4
120 changed files with 826 additions and 1302 deletions
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conf/simulator/nps/nps_sensors_params_default.h
+30 -21
View File
@@ -53,13 +53,16 @@
#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))
#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_SENSITIVITY_NUM 981
#define NPS_ACCEL_SENSITIVITY_DEN 200
#define NPS_ACCEL_SENSITIVITY ((float)NPS_ACCEL_SENSITIVITY_NUM / (float)NPS_ACCEL_SENSITIVITY_DEN)
#define NPS_ACCEL_SENSITIVITY_XX ACCEL_BFP_OF_REAL(1./NPS_ACCEL_SENSITIVITY)
#define NPS_ACCEL_SENSITIVITY_YY ACCEL_BFP_OF_REAL(1./NPS_ACCEL_SENSITIVITY)
#define NPS_ACCEL_SENSITIVITY_ZZ ACCEL_BFP_OF_REAL(1./NPS_ACCEL_SENSITIVITY)
#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
#define NPS_ACCEL_NEUTRAL_X 0
#define NPS_ACCEL_NEUTRAL_Y 0
#define NPS_ACCEL_NEUTRAL_Z 0
/* m2s-4 */
#define NPS_ACCEL_NOISE_STD_DEV_X 5.e-2
#define NPS_ACCEL_NOISE_STD_DEV_Y 5.e-2
@@ -87,21 +90,24 @@
#endif
/* 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_SENSITIVITY_NUM 36542
#define NPS_GYRO_SENSITIVITY_DEN 8383
#define NPS_GYRO_SENSITIVITY ((float)NPS_GYRO_SENSITIVITY_NUM / (float)NPS_GYRO_SENSITIVITY_DEN)
#define NPS_GYRO_SENSITIVITY_PP RATE_BFP_OF_REAL(1./NPS_GYRO_SENSITIVITY)
#define NPS_GYRO_SENSITIVITY_QQ RATE_BFP_OF_REAL(1./NPS_GYRO_SENSITIVITY)
#define NPS_GYRO_SENSITIVITY_RR RATE_BFP_OF_REAL(1./NPS_GYRO_SENSITIVITY)
#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_NEUTRAL_P 0
#define NPS_GYRO_NEUTRAL_Q 0
#define NPS_GYRO_NEUTRAL_R 0
#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_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)
@@ -128,13 +134,16 @@
#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_SENSITIVITY_NUM 1
#define NPS_MAG_SENSITIVITY_DEN 1
#define NPS_MAG_SENSITIVITY ((float)NPS_MAG_SENSITIVITY_NUM / (float)NPS_MAG_SENSITIVITY_DEN)
#define NPS_MAG_SENSITIVITY_XX MAG_BFP_OF_REAL(1./NPS_MAG_SENSITIVITY)
#define NPS_MAG_SENSITIVITY_YY MAG_BFP_OF_REAL(1./NPS_MAG_SENSITIVITY)
#define NPS_MAG_SENSITIVITY_ZZ MAG_BFP_OF_REAL(1./NPS_MAG_SENSITIVITY)
#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_NEUTRAL_X 0
#define NPS_MAG_NEUTRAL_Y 0
#define NPS_MAG_NEUTRAL_Z 0
#define NPS_MAG_NOISE_STD_DEV_X 2e-3
#define NPS_MAG_NOISE_STD_DEV_Y 2e-3
conf/simulator/nps/nps_sensors_params_noisy.h
+31 -22
View File
@@ -53,13 +53,16 @@
#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))
#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_SENSITIVITY_NUM 981
#define NPS_ACCEL_SENSITIVITY_DEN 200
#define NPS_ACCEL_SENSITIVITY ((float)NPS_ACCEL_SENSITIVITY_NUM / (float)NPS_ACCEL_SENSITIVITY_DEN)
#define NPS_ACCEL_SENSITIVITY_XX ACCEL_BFP_OF_REAL(1./NPS_ACCEL_SENSITIVITY)
#define NPS_ACCEL_SENSITIVITY_YY ACCEL_BFP_OF_REAL(1./NPS_ACCEL_SENSITIVITY)
#define NPS_ACCEL_SENSITIVITY_ZZ ACCEL_BFP_OF_REAL(1./NPS_ACCEL_SENSITIVITY)
#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
#define NPS_ACCEL_NEUTRAL_X 0
#define NPS_ACCEL_NEUTRAL_Y 0
#define NPS_ACCEL_NEUTRAL_Z 0
/* m2s-4 */
#define NPS_ACCEL_NOISE_STD_DEV_X .5
#define NPS_ACCEL_NOISE_STD_DEV_Y .5
@@ -86,22 +89,25 @@
#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))
#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))
/* 2^12/GYRO_X_SENS */
#define NPS_GYRO_SENSITIVITY_NUM 36542
#define NPS_GYRO_SENSITIVITY_DEN 8383
#define NPS_GYRO_SENSITIVITY ((float)NPS_GYRO_SENSITIVITY_NUM / (float)NPS_GYRO_SENSITIVITY_DEN)
#define NPS_GYRO_SENSITIVITY_PP RATE_BFP_OF_REAL(1./NPS_GYRO_SENSITIVITY)
#define NPS_GYRO_SENSITIVITY_QQ RATE_BFP_OF_REAL(1./NPS_GYRO_SENSITIVITY)
#define NPS_GYRO_SENSITIVITY_RR RATE_BFP_OF_REAL(1./NPS_GYRO_SENSITIVITY)
#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_NEUTRAL_P 0
#define NPS_GYRO_NEUTRAL_Q 0
#define NPS_GYRO_NEUTRAL_R 0
#define NPS_GYRO_NOISE_STD_DEV_P RadOfDeg(9.)
#define NPS_GYRO_NOISE_STD_DEV_Q RadOfDeg(9.)
#define NPS_GYRO_NOISE_STD_DEV_R RadOfDeg(9.)
#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_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)
@@ -128,13 +134,16 @@
#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_SENSITIVITY_NUM 1
#define NPS_MAG_SENSITIVITY_DEN 1
#define NPS_MAG_SENSITIVITY ((float)NPS_MAG_SENSITIVITY_NUM / (float)NPS_MAG_SENSITIVITY_DEN)
#define NPS_MAG_SENSITIVITY_XX MAG_BFP_OF_REAL(1./NPS_MAG_SENSITIVITY)
#define NPS_MAG_SENSITIVITY_YY MAG_BFP_OF_REAL(1./NPS_MAG_SENSITIVITY)
#define NPS_MAG_SENSITIVITY_ZZ MAG_BFP_OF_REAL(1./NPS_MAG_SENSITIVITY)
#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_NEUTRAL_X 0
#define NPS_MAG_NEUTRAL_Y 0
#define NPS_MAG_NEUTRAL_Z 0
#define NPS_MAG_NOISE_STD_DEV_X 2e-1
#define NPS_MAG_NOISE_STD_DEV_Y 2e-1