rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-11-29 07:24:13 +01:00
Code Issues Releases Activity

AHRS: In indoor mode correct with a high variance 0 for position to keep it

Browse Source 
bounded.  Velocity variance still comes from AHRSCalibration.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2186 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-12-04 17:34:18 +00:00 committed by peabody124
parent a04e33ccc6
commit 0679e8d472
1 changed files with 13 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
flight/AHRS/ahrs.c
View File

@ -166,6 +166,11 @@ void ins_outdoor_update()
else {
sensors |= HORIZ_SENSORS | POS_SENSORS;
}
/* When doing outdoor update grab this variance */
AHRSCalibrationData cal;
AHRSCalibrationGet(&cal);
INSSetPosVelVar(cal.pos_var, cal.vel_var);
/*
* When using gps need to make sure that barometer is brought into NED frame
@ -252,8 +257,12 @@ void ins_indoor_update()
if(indoor_delay > INSGPS_GPS_TIMEOUT)
INSPosVelReset(vel,vel);
else
sensors = HORIZ_SENSORS | VERT_SENSORS;
sensors = HORIZ_SENSORS | VERT_SENSORS | POS_SENSORS;
AHRSCalibrationData cal;
AHRSCalibrationGet(&cal);
INSSetPosVelVar(10, cal.vel_var);
if(mag_data.updated && (ahrs_algorithm == AHRSSETTINGS_ALGORITHM_INSGPS_INDOOR)) {
sensors |= MAG_SENSORS;
mag_data.updated = false;
@ -268,7 +277,7 @@ void ins_indoor_update()
* TODO: Need to add a general sanity check for all the inputs to make sure their kosher
* although probably should occur within INS itself
*/
INSCorrection(mag_data.scaled.axis, gps_data.NED, vel, altitude_data.altitude, sensors | HORIZ_SENSORS | VERT_SENSORS);
INSCorrection(mag_data.scaled.axis, vel, vel, altitude_data.altitude, sensors | HORIZ_SENSORS | VERT_SENSORS);
}
/**
@ -894,6 +903,7 @@ void calibration_callback(AhrsObjHandle obj)
{
AHRSCalibrationData cal;
AHRSCalibrationGet(&cal);
if(cal.measure_var == AHRSCALIBRATION_MEASURE_VAR_SET){
for(int ct=0; ct<3; ct++)
{