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Code Issues Releases Activity

AHRS: Max downsample that doesn't cause huge amounts of drops right now is 20

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1840 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-10-02 02:17:34 +00:00 committed by peabody124
parent 29b087703b
commit 104dc165a9
1 changed files with 5 additions and 5 deletions
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10
flight/AHRS/ahrs.c
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@ -153,11 +153,11 @@ struct gps_sensor {
*/
/* Function Prototypes */
void process_spi_request(void);
void downsample_data(void);
void calibrate_sensors(void);
void reset_values();
void send_calibration(void);
void send_attitude(void);
void altitude_callback(AhrsObjHandle obj);
void calibration_callback(AhrsObjHandle obj);
void gps_callback(AhrsObjHandle obj);
@ -179,7 +179,7 @@ int16_t fir_coeffs[50];
//! The oversampling rate, ekf is 2k / this
static uint8_t adc_oversampling = 17;
static uint8_t adc_oversampling = 20;
/**
@ -355,7 +355,7 @@ for all data to be up to date before doing anything*/
mag[2] = -mag_data.scaled.axis[2];
INSStatePrediction(gyro, accel, 1 / (float)EKF_RATE);
process_spi_request(); // get message out quickly
send_attitude(); // get message out quickly
INSCovariancePrediction(1 / (float)EKF_RATE);
if (gps_data.updated && gps_data.quality == 1) {
@ -432,7 +432,7 @@ for all data to be up to date before doing anything*/
attitude_data.quaternion.q2 = q[1];
attitude_data.quaternion.q3 = q[2];
attitude_data.quaternion.q4 = q[3];
process_spi_request();
send_attitude();
}
@ -724,7 +724,7 @@ void reset_values() {
}
void process_spi_request(void)
void send_attitude(void)
{
AttitudeActualData attitude;
attitude.q1 = attitude_data.quaternion.q1;