From 5b836db54cc41145ab9b256e03b46acee5ceae73 Mon Sep 17 00:00:00 2001 From: James Cotton Date: Sun, 11 Sep 2011 22:57:11 -0500 Subject: [PATCH] INS/Guidance: Convert distance to using m instead of cm. This is mainly to be able to use NAN to indicate when values aren't valid from INS. --- flight/INS/insgps_helper.c | 30 ++++++++++--------- flight/Modules/Guidance/guidance.c | 6 ++-- .../uavobjectdefinition/guidancesettings.xml | 8 ++--- shared/uavobjectdefinition/nedaccel.xml | 6 ++-- shared/uavobjectdefinition/positionactual.xml | 6 ++-- .../uavobjectdefinition/positiondesired.xml | 6 ++-- shared/uavobjectdefinition/velocityactual.xml | 6 ++-- .../uavobjectdefinition/velocitydesired.xml | 6 ++-- 8 files changed, 38 insertions(+), 36 deletions(-) diff --git a/flight/INS/insgps_helper.c b/flight/INS/insgps_helper.c index 4b3f2f25f..e2cbfad95 100644 --- a/flight/INS/insgps_helper.c +++ b/flight/INS/insgps_helper.c @@ -83,16 +83,16 @@ void ins_outdoor_update() PositionActualData positionActual; PositionActualGet(&positionActual); - positionActual.North = Nav.Pos[0] * 100; - positionActual.East = Nav.Pos[1] * 100; - positionActual.Down = Nav.Pos[2] * 100; + positionActual.North = Nav.Pos[0]; + positionActual.East = Nav.Pos[1]; + positionActual.Down = Nav.Pos[2]; PositionActualSet(&positionActual); VelocityActualData velocityActual; VelocityActualGet(&velocityActual); - velocityActual.North = Nav.Vel[0] * 100; - velocityActual.East = Nav.Vel[1] * 100; - velocityActual.Down = Nav.Vel[2] * 100; + velocityActual.North = Nav.Vel[0]; + velocityActual.East = Nav.Vel[1]; + velocityActual.Down = Nav.Vel[2]; VelocityActualSet(&velocityActual); sensors = 0; @@ -234,30 +234,32 @@ void ins_indoor_update() if(gps_data.updated) { PositionActualData positionActual; PositionActualGet(&positionActual); - positionActual.North = gps_data.NED[0] * 100; - positionActual.East = gps_data.NED[1] * 100; - positionActual.Down = Nav.Pos[2] * 100; + positionActual.North = gps_data.NED[0]; + positionActual.East = gps_data.NED[1]; + positionActual.Down = Nav.Pos[2]; PositionActualSet(&positionActual); VelocityActualData velocityActual; VelocityActualGet(&velocityActual); velocityActual.North = gps_data.groundspeed * cos(gps_data.heading * DEG_TO_RAD); velocityActual.East = gps_data.groundspeed * sin(gps_data.heading * DEG_TO_RAD); - velocityActual.Down = Nav.Vel[2] * 100; + velocityActual.Down = Nav.Vel[2]; VelocityActualSet(&velocityActual); gps_data.updated = false; } else { PositionActualData positionActual; PositionActualGet(&positionActual); - positionActual.Down = Nav.Pos[2] * 100; + positionActual.North = NAN; + positionActual.East = NAN; + positionActual.Down = Nav.Pos[2]; PositionActualSet(&positionActual); VelocityActualData velocityActual; VelocityActualGet(&velocityActual); - velocityActual.North = 0; - velocityActual.East = 0; - velocityActual.Down = Nav.Vel[2] * 100; + velocityActual.North = NAN; + velocityActual.East = NAN; + velocityActual.Down = Nav.Vel[2]; VelocityActualSet(&velocityActual); } diff --git a/flight/Modules/Guidance/guidance.c b/flight/Modules/Guidance/guidance.c index b90303928..519abeeb2 100644 --- a/flight/Modules/Guidance/guidance.c +++ b/flight/Modules/Guidance/guidance.c @@ -192,9 +192,9 @@ static void guidanceTask(void *parameters) NedAccelData accelData; NedAccelGet(&accelData); // Convert from m/s to cm/s - accelData.North = accel_ned[0] * 100; - accelData.East = accel_ned[1] * 100; - accelData.Down = accel_ned[2] * 100; + accelData.North = accel_ned[0]; + accelData.East = accel_ned[1]; + accelData.Down = accel_ned[2]; NedAccelSet(&accelData); diff --git a/shared/uavobjectdefinition/guidancesettings.xml b/shared/uavobjectdefinition/guidancesettings.xml index 5d83f92e5..78d3cfeed 100644 --- a/shared/uavobjectdefinition/guidancesettings.xml +++ b/shared/uavobjectdefinition/guidancesettings.xml @@ -2,10 +2,10 @@ Settings for the @ref GuidanceModule - - - - + + + + diff --git a/shared/uavobjectdefinition/nedaccel.xml b/shared/uavobjectdefinition/nedaccel.xml index 83da85e7e..b40fd937b 100644 --- a/shared/uavobjectdefinition/nedaccel.xml +++ b/shared/uavobjectdefinition/nedaccel.xml @@ -1,9 +1,9 @@ The projection of acceleration in the NED reference frame used by @ref Guidance. - - - + + + diff --git a/shared/uavobjectdefinition/positionactual.xml b/shared/uavobjectdefinition/positionactual.xml index 5fbf4d01c..cddd81742 100644 --- a/shared/uavobjectdefinition/positionactual.xml +++ b/shared/uavobjectdefinition/positionactual.xml @@ -1,9 +1,9 @@ Contains the current position relative to @ref HomeLocation - - - + + + diff --git a/shared/uavobjectdefinition/positiondesired.xml b/shared/uavobjectdefinition/positiondesired.xml index fab8cf21f..ffffe1370 100644 --- a/shared/uavobjectdefinition/positiondesired.xml +++ b/shared/uavobjectdefinition/positiondesired.xml @@ -1,9 +1,9 @@ The position the craft is trying t achieve. Can come from GCS or @ref PathPlanner - - - + + + diff --git a/shared/uavobjectdefinition/velocityactual.xml b/shared/uavobjectdefinition/velocityactual.xml index 94ac75903..a4173b033 100644 --- a/shared/uavobjectdefinition/velocityactual.xml +++ b/shared/uavobjectdefinition/velocityactual.xml @@ -1,9 +1,9 @@ Updated by @ref AHRSCommsModule and used within @ref GuidanceModule for velocity control - - - + + + diff --git a/shared/uavobjectdefinition/velocitydesired.xml b/shared/uavobjectdefinition/velocitydesired.xml index ae30659d8..02467a539 100644 --- a/shared/uavobjectdefinition/velocitydesired.xml +++ b/shared/uavobjectdefinition/velocitydesired.xml @@ -1,9 +1,9 @@ Used within @ref GuidanceModule to communicate between the task computing the desired velocity and the PID loop to achieve it (running at different rates). - - - + + +