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Code Issues Releases Activity

OP-1009 Redo gyro zero in Complementary after calibration parameters changes

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This commit is contained in:
Alessio Morale 2013-06-15 16:22:24 +02:00
parent 599a5c1bfd
commit 49da1aca86
1 changed files with 26 additions and 6 deletions
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32
flight/modules/Attitude/revolution/attitude.c
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@ -75,10 +75,12 @@
#include "CoordinateConversions.h" #include "CoordinateConversions.h"
// Private constants // Private constants
#define STACK_SIZE_BYTES 2048 #define STACK_SIZE_BYTES 2048
#define TASK_PRIORITY (tskIDLE_PRIORITY + 3) #define TASK_PRIORITY (tskIDLE_PRIORITY + 3)
#define FAILSAFE_TIMEOUT_MS 10 #define FAILSAFE_TIMEOUT_MS 10
#define CALIBRATION_DELAY 4000
#define CALIBRATION_DURATION 6000
// low pass filter configuration to calculate offset // low pass filter configuration to calculate offset
// of barometric altitude sensor // of barometric altitude sensor
// reasoning: updates at: 10 Hz, tau= 300 s settle time // reasoning: updates at: 10 Hz, tau= 300 s settle time
@ -319,6 +321,7 @@ static int32_t updateAttitudeComplementary(bool first_run)
float dT; float dT;
static uint8_t init = 0; static uint8_t init = 0;
static bool magCalibrated = true; static bool magCalibrated = true;
static uint32_t initStartupTime = 0;
// Wait until the AttitudeRaw object is updated, if a timeout then go to failsafe // Wait until the AttitudeRaw object is updated, if a timeout then go to failsafe
if (xQueueReceive(gyroQueue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE || if (xQueueReceive(gyroQueue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE ||
@ -389,10 +392,26 @@ static int32_t updateAttitudeComplementary(bool first_run)
timeval = PIOS_DELAY_GetRaw(); timeval = PIOS_DELAY_GetRaw();
// wait calibration_delay only at powerup
if (xTaskGetTickCount() < 3000) {
initStartupTime = 0;
} else {
initStartupTime = xTaskGetTickCount() - CALIBRATION_DELAY;
}
// Zero gyro bias
// This is really needed after updating calibration settings.
GyrosBiasData zeroGyrosBias;
GyrosBiasGet(&zeroGyrosBias);
zeroGyrosBias.x = 0;
zeroGyrosBias.y = 0;
zeroGyrosBias.z = 0;
GyrosBiasSet(&zeroGyrosBias);
return 0; return 0;
} }
if ((xTaskGetTickCount() < 10000) && (xTaskGetTickCount() > 4000)) { if ((xTaskGetTickCount() - initStartupTime < CALIBRATION_DURATION + CALIBRATION_DELAY) &&
(xTaskGetTickCount() - initStartupTime > CALIBRATION_DELAY)) {
// For first 7 seconds use accels to get gyro bias // For first 7 seconds use accels to get gyro bias
attitudeSettings.AccelKp = 1.0f; attitudeSettings.AccelKp = 1.0f;
attitudeSettings.AccelKi = 0.0f; attitudeSettings.AccelKi = 0.0f;
@ -619,8 +638,9 @@ static int32_t updateAttitudeComplementary(bool first_run)
} }
} }
if (!init) {
if (variance_error) { AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_ERROR);
} else if (variance_error) {
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_CRITICAL); AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_CRITICAL);
} else { } else {
AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE); AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);