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Code Issues Releases Activity

LP-443 - Fixes to make ins13 and 14 interchangeable

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This commit is contained in:
Alessio Morale 2016-07-18 01:31:54 +02:00
parent 4f045bc73a
commit 5d8f4b6cde
3 changed files with 38 additions and 27 deletions
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4
flight/libraries/inc/insgps.h
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@ -58,11 +58,11 @@ void INSGPSInit();
void INSStatePrediction(const float gyro_data[3], const float accel_data[3], float dT);
void INSCovariancePrediction(float dT);
void INSCorrection(const float mag_data[3], const float Pos[3], const float Vel[3],
float BaroAlt, uint16_t SensorsUsed);
float BaroAlt, uint16_t SensorsUsed);
void INSResetP(const float PDiag[13]);
void INSGetVariance(float PDiag[13]);
void INSSetState(const float pos[3], const float vel[3], const float q[4], const float gyro_bias[3], const float accel_bias[3]);
void INSSetPosVelVar(float PosVar[3], float VelVar[3]);
void INSSetPosVelVar(const float PosVar[3], const float VelVar[3]);
void INSSetGyroBias(const float gyro_bias[3]);
void INSSetAccelVar(const float accel_var[3]);
void INSSetGyroVar(const float gyro_var[3]);

59
flight/libraries/insgps13state.c
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@ -163,7 +163,22 @@ void INSGPSInit() // pretty much just a place holder for now
ekf.R[9] = .25f; // High freq altimeter noise variance (m^2)
}
void INSResetP(float PDiag[NUMX])
// ! Set the current flight state
void INSSetArmed(bool armed)
{
return;
// Speed up convergence of accel and gyro bias when not armed
if (armed) {
ekf.Q[9] = 1e-4f;
ekf.Q[8] = 2e-9f;
} else {
ekf.Q[9] = 1e-2f;
ekf.Q[8] = 2e-8f;
}
}
void INSResetP(const float PDiag[NUMX])
{
uint8_t i, j;
@ -178,7 +193,7 @@ void INSResetP(float PDiag[NUMX])
}
}
void INSGetP(float PDiag[NUMX])
void INSGetVariance(float PDiag[NUMX])
{
uint8_t i;
@ -189,8 +204,7 @@ void INSGetP(float PDiag[NUMX])
}
}
}
void INSSetState(float pos[3], float vel[3], float q[4], float gyro_bias[3], __attribute__((unused)) float accel_bias[3])
void INSSetState(const float pos[3], const float vel[3], const float q[4], const float gyro_bias[3], __attribute__((unused)) const float accel_bias[3])
{
/* Note: accel_bias not used in 13 state INS */
ekf.X[0] = pos[0];
@ -208,7 +222,7 @@ void INSSetState(float pos[3], float vel[3], float q[4], float gyro_bias[3], __a
ekf.X[12] = gyro_bias[2];
}
void INSPosVelReset(float pos[3], float vel[3])
void INSPosVelReset(const float pos[3], const float vel[3])
{
for (int i = 0; i < 6; i++) {
for (int j = i; j < NUMX; j++) {
@ -228,7 +242,7 @@ void INSPosVelReset(float pos[3], float vel[3])
ekf.X[5] = vel[2];
}
void INSSetPosVelVar(float PosVar[3], float VelVar[3])
void INSSetPosVelVar(const float PosVar[3], const float VelVar[3])
{
ekf.R[0] = PosVar[0];
ekf.R[1] = PosVar[1];
@ -238,35 +252,35 @@ void INSSetPosVelVar(float PosVar[3], float VelVar[3])
ekf.R[5] = VelVar[2];
}
void INSSetGyroBias(float gyro_bias[3])
void INSSetGyroBias(const float gyro_bias[3])
{
ekf.X[10] = gyro_bias[0];
ekf.X[11] = gyro_bias[1];
ekf.X[12] = gyro_bias[2];
}
void INSSetAccelVar(float accel_var[3])
void INSSetAccelVar(const float accel_var[3])
{
ekf.Q[3] = accel_var[0];
ekf.Q[4] = accel_var[1];
ekf.Q[5] = accel_var[2];
}
void INSSetGyroVar(float gyro_var[3])
void INSSetGyroVar(const float gyro_var[3])
{
ekf.Q[0] = gyro_var[0];
ekf.Q[1] = gyro_var[1];
ekf.Q[2] = gyro_var[2];
}
void INSSetGyroBiasVar(float gyro_bias_var[3])
void INSSetGyroBiasVar(const float gyro_bias_var[3])
{
ekf.Q[6] = gyro_bias_var[0];
ekf.Q[7] = gyro_bias_var[1];
ekf.Q[8] = gyro_bias_var[2];
}
void INSSetMagVar(float scaled_mag_var[3])
void INSSetMagVar(const float scaled_mag_var[3])
{
ekf.R[6] = scaled_mag_var[0];
ekf.R[7] = scaled_mag_var[1];
@ -278,16 +292,14 @@ void INSSetBaroVar(float baro_var)
ekf.R[9] = baro_var;
}
void INSSetMagNorth(float B[3])
void INSSetMagNorth(const float B[3])
{
float invmag = invsqrtf(B[0] * B[0] + B[1] * B[1] + B[2] * B[2]);
ekf.Be[0] = B[0] * invmag;
ekf.Be[1] = B[1] * invmag;
ekf.Be[2] = B[2] * invmag;
ekf.Be[0] = B[0];
ekf.Be[1] = B[1];
ekf.Be[2] = B[2];
}
void INSStatePrediction(float gyro_data[3], float accel_data[3], float dT)
void INSStatePrediction(const float gyro_data[3], const float accel_data[3], float dT)
{
float U[6];
float invqmag;
@ -371,8 +383,8 @@ void VelBaroCorrection(float Vel[3], float BaroAlt)
HORIZ_SENSORS | VERT_SENSORS | BARO_SENSOR);
}
void INSCorrection(float mag_data[3], float Pos[3], float Vel[3],
float BaroAlt, uint16_t SensorsUsed)
void INSCorrection(const float mag_data[3], const float Pos[3], const float Vel[3],
const float BaroAlt, uint16_t SensorsUsed)
{
float Z[10] = { 0 };
float Y[10] = { 0 };
@ -390,10 +402,9 @@ void INSCorrection(float mag_data[3], float Pos[3], float Vel[3],
if (SensorsUsed & MAG_SENSORS) {
float invBmag = invsqrtf(mag_data[0] * mag_data[0] + mag_data[1] * mag_data[1] + mag_data[2] * mag_data[2]);
Z[6] = mag_data[0] * invBmag;
Z[7] = mag_data[1] * invBmag;
Z[8] = mag_data[2] * invBmag;
Z[6] = mag_data[0];
Z[7] = mag_data[1];
Z[8] = mag_data[2];
}
// barometric altimeter in meters and in local NED frame

2
flight/libraries/insgps14state.c
View File

@ -265,7 +265,7 @@ void INSPosVelReset(const float pos[3], const float vel[3])
ekf.X[4] = vel[1];
ekf.X[5] = vel[2];
}
void INSSetPosVelVar(float PosVar[3], float VelVar[3])
void INSSetPosVelVar(const float PosVar[3], const float VelVar[3])
// void INSSetPosVelVar(float PosVar, float VelVar, float VertPosVar)
{
ekf.R[0] = PosVar[0];