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Code Issues Releases Activity

LP-327 - Add a parameter to opt-out the board steady logic

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This commit is contained in:
Alessio Morale 2016-06-28 00:10:05 +02:00
parent 2ce258e365
commit 4cf1af58da
2 changed files with 2 additions and 1 deletions
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2
flight/modules/StateEstimation/filtercf.c
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@ -288,7 +288,7 @@ static filterResult complementaryFilter(struct data *this, float gyro[3], float
return FILTERRESULT_OK; // must return OK on initial initialization, so attitude will init with a valid quaternion
}
// check whether copter is steady
if (this->init == 0) {
if (this->init == 0 && this->attitudeSettings.InitialZeroWhenBoardSteady == ATTITUDESETTINGS_INITIALZEROWHENBOARDSTEADY_TRUE) {
pseudo_windowed_variance_push_sample(&this->gyro_var[0], gyro[0]);
pseudo_windowed_variance_push_sample(&this->gyro_var[1], gyro[1]);
pseudo_windowed_variance_push_sample(&this->gyro_var[2], gyro[2]);

1
shared/uavobjectdefinition/attitudesettings.xml
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@ -11,6 +11,7 @@
<field name="YawBiasRate" units="channel" type="float" elements="1" defaultvalue="0.000001"/>
<field name="ZeroDuringArming" units="channel" type="enum" elements="1" options="False,True" defaultvalue="True"/>
<field name="BiasCorrectGyro" units="channel" type="enum" elements="1" options="False,True" defaultvalue="True"/>
<field name="InitialZeroWhenBoardSteady" units="" type="enum" elements="1" options="False,True" defaultvalue="True"/>
<field name="TrimFlight" units="channel" type="enum" elements="1" options="NORMAL,START,LOAD" defaultvalue="NORMAL"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>