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Code Issues Releases Activity

Added a low pass filter for accels to the altitude filter

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This commit is contained in:
Corvus Corax 2013-07-02 23:17:08 +02:00
parent 7745f93935
commit 0107432e45
2 changed files with 9 additions and 4 deletions
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12
flight/modules/StateEstimation/filteraltitude.c
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@ -44,7 +44,7 @@
// Private types
struct data {
float state[3]; // state = altitude,velocity,accel_offset
float state[4]; // state = altitude,velocity,accel_offset,accel
float pos[3]; // position updates from other filters
float vel[3]; // position updates from other filters
float dTA;
@ -82,6 +82,7 @@ static int32_t init(stateFilter *self)
this->state[0] = 0.0f;
this->state[1] = 0.0f;
this->state[2] = 0.0f;
this->state[3] = 0.0f;
this->pos[0] = 0.0f;
this->pos[1] = 0.0f;
this->pos[2] = 0.0f;
@ -132,8 +133,11 @@ static int32_t filter(stateFilter *self, stateEstimation *state)
Quaternion2R(&att.q1, Rbe);
float current = -(Rbe[0][2] * state->accel[0] + Rbe[1][2] * state->accel[1] + Rbe[2][2] * state->accel[2] + 9.81f);
// low pass filter accelerometers
this->state[3] = (1.0f - this->settings.AccelLowPassKp) * this->state[3] + this->settings.AccelLowPassKp * current;
// correct accel offset (low pass zeroing)
this->state[2] = (1.0f - this->settings.AccelDriftKi) * this->state[2] + this->settings.AccelDriftKi * current;
this->state[2] = (1.0f - this->settings.AccelDriftKi) * this->state[2] + this->settings.AccelDriftKi * this->state[3];
// correct velocity and position state (integration)
// low pass for average dT, compensate timing jitter from scheduler
@ -149,8 +153,8 @@ static int32_t filter(stateFilter *self, stateEstimation *state)
}
float speedLast = this->state[1];
this->state[1] += 0.5f * (this->accelLast + (current - this->state[2])) * this->dTA;
this->accelLast = current - this->state[2];
this->state[1] += 0.5f * (this->accelLast + (this->state[3] - this->state[2])) * this->dTA;
this->accelLast = this->state[3] - this->state[2];
this->state[0] += 0.5f * (speedLast + this->state[1]) * this->dTA;

1
shared/uavobjectdefinition/altitudefiltersettings.xml
View File

@ -1,6 +1,7 @@
<xml>
<object name="AltitudeFilterSettings" singleinstance="true" settings="true" category="State">
<description>Settings for the @ref State Estimator module plugin altitudeFilter</description>
<field name="AccelLowPassKp" units="m/s^2" type="float" elements="1" defaultvalue="0.07"/>
<field name="AccelDriftKi" units="m/s^2" type="float" elements="1" defaultvalue="0.0005"/>
<field name="BaroKp" units="m" type="float" elements="1" defaultvalue="0.02"/>
<access gcs="readwrite" flight="readwrite"/>