mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-29 07:24:13 +01:00
This patch breaks backward compatibility with AHRS solidly.
Move the configuration files for INS from AHRS* to INS*. Strip out unused fields in settings and merge calibration and settings since settings has basically no information.
This commit is contained in:
James Cotton
parent
37878ed4e8
commit
612d3336b4
@ -74,12 +74,12 @@ void reset_values();
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void calibrate_sensors(void);
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/* Communication functions */
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void send_calibration(void);
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//void send_calibration(void);
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void send_attitude(void);
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void send_velocity(void);
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void send_position(void);
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void homelocation_callback(AhrsObjHandle obj);
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void calibration_callback(AhrsObjHandle obj);
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//void calibration_callback(AhrsObjHandle obj);
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void settings_callback(AhrsObjHandle obj);
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void affine_rotate(float scale[3][4], float rotation[3]);
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void calibration(float result[3], float scale[3][4], float arg[3]);
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@ -129,7 +129,7 @@ typedef enum { INS_IDLE, INS_DATA_READY, INS_PROCESSING } states;
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*/
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uint32_t total_conversion_blocks;
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static bool bias_corrected_raw;
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float pressure, altitude;
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@ -142,7 +142,7 @@ int main()
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{
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gps_data.quality = -1;
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static int8_t last_ahrs_algorithm;
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ahrs_algorithm = AHRSSETTINGS_ALGORITHM_SIMPLE;
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ahrs_algorithm = INSSETTINGS_ALGORITHM_SIMPLE;
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reset_values();
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@ -191,18 +191,15 @@ int main()
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/* we didn't connect the callbacks before because we have to wait
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for all data to be up to date before doing anything*/
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AHRSCalibrationConnectCallback(calibration_callback);
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AHRSSettingsConnectCallback(settings_callback);
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InsSettingsConnectCallback(settings_callback);
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HomeLocationConnectCallback(homelocation_callback);
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FirmwareIAPObjConnectCallback(firmwareiapobj_callback);
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calibration_callback(AHRSCalibrationHandle()); //force an update
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/******************* Main EKF loop ****************************/
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while(1) {
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AhrsPoll();
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AhrsStatusData status;
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AhrsStatusGet(&status);
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InsStatusData status;
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InsStatusGet(&status);
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// Alive signal
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if ((total_conversion_blocks++ % 100) == 0)
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@ -236,20 +233,20 @@ int main()
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time_val2 = PIOS_DELAY_GetRaw();
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switch(ahrs_algorithm) {
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case AHRSSETTINGS_ALGORITHM_SIMPLE:
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case INSSETTINGS_ALGORITHM_SIMPLE:
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simple_update();
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break;
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case AHRSSETTINGS_ALGORITHM_INSGPS_OUTDOOR:
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case INSSETTINGS_ALGORITHM_INSGPS_OUTDOOR:
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ins_outdoor_update();
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break;
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case AHRSSETTINGS_ALGORITHM_INSGPS_INDOOR:
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case AHRSSETTINGS_ALGORITHM_INSGPS_INDOOR_NOMAG:
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case INSSETTINGS_ALGORITHM_INSGPS_INDOOR:
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case INSSETTINGS_ALGORITHM_INSGPS_INDOOR_NOMAG:
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ins_indoor_update();
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break;
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}
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status.RunningTimePerCycle = PIOS_DELAY_DiffuS(time_val2);
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AhrsStatusSet(&status);
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InsStatusSet(&status);
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}
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return 0;
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@ -401,9 +398,9 @@ void get_accel_gyro_data()
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raw.gyros[1] = gyro_data.filtered.y * RAD_TO_DEG;
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raw.gyros[2] = gyro_data.filtered.z * RAD_TO_DEG;
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AHRSSettingsData settings;
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AHRSSettingsGet(&settings);
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if (settings.BiasCorrectedRaw == AHRSSETTINGS_BIASCORRECTEDRAW_TRUE)
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InsSettingsData settings;
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InsSettingsGet(&settings);
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if (bias_corrected_raw)
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{
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raw.gyros[0] -= Nav.gyro_bias[0] * RAD_TO_DEG;
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raw.gyros[1] -= Nav.gyro_bias[1] * RAD_TO_DEG;
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@ -617,26 +614,22 @@ void reset_values()
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mag_data.calibration.variance[1] = 50;
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mag_data.calibration.variance[2] = 50;
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ahrs_algorithm = AHRSSETTINGS_ALGORITHM_SIMPLE;
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ahrs_algorithm = INSSETTINGS_ALGORITHM_NONE;
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}
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void send_attitude(void)
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{
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AttitudeActualData attitude;
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AHRSSettingsData settings;
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AHRSSettingsGet(&settings);
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AttitudeActualGet(&attitude);
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attitude.q1 = attitude_data.quaternion.q1;
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attitude.q2 = attitude_data.quaternion.q2;
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attitude.q3 = attitude_data.quaternion.q3;
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attitude.q4 = attitude_data.quaternion.q4;
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float rpy[3];
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Quaternion2RPY(&attitude_data.quaternion.q1, rpy);
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attitude.Roll = rpy[0] + settings.RollBias;
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attitude.Pitch = rpy[1] + settings.PitchBias;
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attitude.Yaw = rpy[2] + settings.YawBias;
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if(attitude.Yaw > 360)
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attitude.Yaw -= 360;
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attitude.Roll = rpy[0];
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attitude.Pitch = rpy[1];
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attitude.Yaw = rpy[2];
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AttitudeActualSet(&attitude);
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}
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@ -666,6 +659,7 @@ void send_position(void)
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PositionActualSet(&positionActual);
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}
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/*
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void send_calibration(void)
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{
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AHRSCalibrationData cal;
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@ -680,12 +674,14 @@ void send_calibration(void)
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cal.measure_var = AHRSCALIBRATION_MEASURE_VAR_SET;
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AHRSCalibrationSet(&cal);
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}
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*/
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/**
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* @brief INS calibration callback
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*
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* Called when the OP board sets the calibration
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*/
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/*
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void calibration_callback(AhrsObjHandle obj)
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{
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AHRSCalibrationData cal;
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@ -732,13 +728,15 @@ void calibration_callback(AhrsObjHandle obj)
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INSSetPosVelVar(cal.pos_var, cal.vel_var);
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}
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*/
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void settings_callback(AhrsObjHandle obj)
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{
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AHRSSettingsData settings;
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AHRSSettingsGet(&settings);
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InsSettingsData settings;
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InsSettingsGet(&settings);
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ahrs_algorithm = settings.Algorithm;
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bias_corrected_raw = settings.BiasCorrectedRaw == INSSETTINGS_BIASCORRECTEDRAW_TRUE;
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}
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void homelocation_callback(AhrsObjHandle obj)
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@ -211,7 +211,7 @@ void ins_indoor_update()
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else
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sensors = HORIZ_SENSORS | VERT_SENSORS;
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if(mag_data.updated && (ahrs_algorithm == AHRSSETTINGS_ALGORITHM_INSGPS_INDOOR)) {
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if(mag_data.updated && (ahrs_algorithm == INSSETTINGS_ALGORITHM_INSGPS_INDOOR)) {
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sensors |= MAG_SENSORS;
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mag_data.updated = false;
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}
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@ -247,10 +247,10 @@ void ins_init_algorithm()
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accels[1]=accel_data.filtered.y;
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accels[2]=accel_data.filtered.z;
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using_mags = (ahrs_algorithm == AHRSSETTINGS_ALGORITHM_INSGPS_OUTDOOR) || (ahrs_algorithm == AHRSSETTINGS_ALGORITHM_INSGPS_INDOOR);
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using_mags = (ahrs_algorithm == INSSETTINGS_ALGORITHM_INSGPS_OUTDOOR) || (ahrs_algorithm == INSSETTINGS_ALGORITHM_INSGPS_INDOOR);
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using_mags &= (home.Be[0] != 0) || (home.Be[1] != 0) || (home.Be[2] != 0); /* only use mags when valid home location */
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using_gps = (ahrs_algorithm == AHRSSETTINGS_ALGORITHM_INSGPS_OUTDOOR) && (gps_data.quality != 0);
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using_gps = (ahrs_algorithm == INSSETTINGS_ALGORITHM_INSGPS_OUTDOOR) && (gps_data.quality != 0);
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/* Block till a data update */
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get_accel_gyro_data();
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@ -29,15 +29,14 @@
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static AttitudeRawData AttitudeRaw;
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static AttitudeActualData AttitudeActual;
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static AHRSCalibrationData AHRSCalibration;
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static AhrsStatusData AhrsStatus;
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static BaroAltitudeData BaroAltitude;
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static GPSPositionData GPSPosition;
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static HomeLocationData HomeLocation;
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static InsStatusData InsStatus;
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static InsSettingsData InsSettings;
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static FirmwareIAPObjData FirmwareIAPObj;
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static PositionActualData PositionActual;
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static VelocityActualData VelocityActual;
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static HomeLocationData HomeLocation;
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static AHRSSettingsData AHRSSettings;
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static FirmwareIAPObjData FirmwareIAPObj;
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AhrsSharedObject objectHandles[MAX_AHRS_OBJECTS];
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@ -53,17 +52,16 @@ AhrsSharedObject objectHandles[MAX_AHRS_OBJECTS];
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CREATEHANDLE(0, AttitudeRaw);
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CREATEHANDLE(1, AttitudeActual);
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CREATEHANDLE(2, AHRSCalibration);
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CREATEHANDLE(3, AhrsStatus);
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CREATEHANDLE(2, InsSettings);
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CREATEHANDLE(3, InsStatus);
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CREATEHANDLE(4, BaroAltitude);
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CREATEHANDLE(5, GPSPosition);
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CREATEHANDLE(6, PositionActual);
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CREATEHANDLE(7, VelocityActual);
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CREATEHANDLE(8, HomeLocation);
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CREATEHANDLE(9, AHRSSettings);
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CREATEHANDLE(10, FirmwareIAPObj);
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CREATEHANDLE(9, FirmwareIAPObj);
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#if 11 != MAX_AHRS_OBJECTS //sanity check
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#if 10 != MAX_AHRS_OBJECTS //sanity check
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#error We did not create the correct number of xxxHandle() functions
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#endif
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@ -96,14 +94,13 @@ void AhrsInitHandles(void)
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//the last has the lowest priority
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ADDHANDLE(idx++, AttitudeRaw);
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ADDHANDLE(idx++, AttitudeActual);
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ADDHANDLE(idx++, AHRSCalibration);
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ADDHANDLE(idx++, AhrsStatus);
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ADDHANDLE(idx++, InsSettings);
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ADDHANDLE(idx++, InsStatus);
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ADDHANDLE(idx++, BaroAltitude);
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ADDHANDLE(idx++, GPSPosition);
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ADDHANDLE(idx++, PositionActual);
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ADDHANDLE(idx++, VelocityActual);
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ADDHANDLE(idx++, HomeLocation);
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ADDHANDLE(idx++, AHRSSettings);
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ADDHANDLE(idx++, FirmwareIAPObj);
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if (idx != MAX_AHRS_OBJECTS) {
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PIOS_DEBUG_Assert(0);
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@ -112,11 +109,8 @@ void AhrsInitHandles(void)
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//When the AHRS writes to these the data does a round trip
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//AHRS->OP->AHRS due to these events
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#ifndef IN_AHRS
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AHRSSettingsConnectCallback(ObjectUpdatedCb);
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BaroAltitudeConnectCallback(ObjectUpdatedCb);
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GPSPositionConnectCallback(ObjectUpdatedCb);
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InsSettingsConnectCallback(ObjectUpdatedCb);
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HomeLocationConnectCallback(ObjectUpdatedCb);
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AHRSCalibrationConnectCallback(ObjectUpdatedCb);
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FirmwareIAPObjConnectCallback(ObjectUpdatedCb);
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#endif
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}
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@ -298,13 +298,11 @@ int32_t AhrsConnectCallBack(AhrsObjHandle obj, AhrsEventCallback cb)
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return (0);
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}
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AhrsCommStatus AhrsGetStatus()
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void AhrsGetStatus(AhrsCommStatus * status)
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{
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AhrsCommStatus status;
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status.remote = rxPacket.status;
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status.local = txPacket.status;
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status.linkOk = linkOk;
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return (status);
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status->remote = rxPacket.status;
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status->local = txPacket.status;
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status->linkOk = linkOk;
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}
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@ -29,14 +29,13 @@
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#include "attitudeactual.h"
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#include "attituderaw.h"
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#include "ahrsstatus.h"
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#include "baroaltitude.h"
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#include "gpsposition.h"
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#include "homelocation.h"
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#include "insstatus.h"
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#include "inssettings.h"
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#include "positionactual.h"
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#include "velocityactual.h"
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#include "homelocation.h"
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#include "ahrscalibration.h"
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#include "ahrssettings.h"
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#include "firmwareiapobj.h"
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/** union that will fit any UAVObject.
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@ -45,20 +44,19 @@
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typedef union {
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AttitudeRawData AttitudeRaw;
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AttitudeActualData AttitudeActual;
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AHRSCalibrationData AHRSCalibration;
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AhrsStatusData AhrsStatus;
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InsStatusData AhrsStatus;
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BaroAltitudeData BaroAltitude;
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GPSPositionData GPSPosition;
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PositionActualData PositionActual;
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VelocityActualData VelocityActual;
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HomeLocationData HomeLocation;
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AHRSSettingsData AHRSSettings;
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InsSettingsData InsSettings;
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FirmwareIAPObjData FirmwareIAPObj;
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} __attribute__ ((packed)) AhrsSharedData;
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/** The number of UAVObjects we will be dealing with.
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*/
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#define MAX_AHRS_OBJECTS 11
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#define MAX_AHRS_OBJECTS 10
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/** Our own version of a UAVObject.
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*/
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@ -110,7 +110,7 @@ int32_t AhrsConnectCallBack(AhrsObjHandle obj, AhrsEventCallback cb);
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Returns: the status.
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Note: the remote status will only be valid if the link is up and running
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*/
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AhrsCommStatus AhrsGetStatus();
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void AhrsGetStatus(AhrsCommStatus * status);
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#ifdef IN_AHRS //slave only
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/** Send the latest objects to the OP
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@ -52,11 +52,10 @@
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#include "ahrs_comms.h"
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#include "ahrs_spi_comm.h"
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#include "ahrsstatus.h"
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#include "ahrscalibration.h"
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#include "insstatus.h"
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// Private constants
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#define STACK_SIZE configMINIMAL_STACK_SIZE-128
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#define STACK_SIZE configMINIMAL_STACK_SIZE
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#define TASK_PRIORITY (tskIDLE_PRIORITY+4)
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// Private types
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@ -87,9 +86,10 @@ int32_t AHRSCommsStart(void)
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*/
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int32_t AHRSCommsInitialize(void)
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{
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AhrsStatusInitialize();
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AHRSCalibrationInitialize();
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InsStatusInitialize();
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InsSettingsInitialize();
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AttitudeRawInitialize();
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AttitudeActualInitialize();
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VelocityActualInitialize();
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PositionActualInitialize();
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@ -109,19 +109,17 @@ static void ahrscommsTask(void *parameters)
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// Main task loop
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while (1) {
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PIOS_WDG_UpdateFlag(PIOS_WDG_AHRS);
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AhrsCommStatus stat;
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AHRSSettingsData settings;
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AHRSSettingsGet(&settings);
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AhrsSendObjects();
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AhrsCommStatus stat = AhrsGetStatus();
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AhrsGetStatus(&stat);
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if (stat.linkOk) {
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AlarmsClear(SYSTEMALARMS_ALARM_AHRSCOMMS);
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} else {
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AlarmsSet(SYSTEMALARMS_ALARM_AHRSCOMMS, SYSTEMALARMS_ALARM_WARNING);
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}
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AhrsStatusData sData;
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AhrsStatusGet(&sData);
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InsStatusData sData;
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InsStatusGet(&sData);
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sData.LinkRunning = stat.linkOk;
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sData.AhrsKickstarts = stat.remote.kickStarts;
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@ -132,9 +130,9 @@ static void ahrscommsTask(void *parameters)
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sData.OpRetries = stat.local.retries;
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sData.OpInvalidPackets = stat.local.invalidPacket;
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AhrsStatusSet(&sData);
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InsStatusSet(&sData);
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/* Wait for the next update interval */
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vTaskDelayUntil(&lastSysTime, settings.UpdatePeriod / portTICK_RATE_MS);
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vTaskDelayUntil(&lastSysTime, 1 / portTICK_RATE_MS);
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}
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}
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@ -28,9 +28,8 @@ UAVOBJSRCFILENAMES += accessorydesired
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UAVOBJSRCFILENAMES += actuatorcommand
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UAVOBJSRCFILENAMES += actuatordesired
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UAVOBJSRCFILENAMES += actuatorsettings
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UAVOBJSRCFILENAMES += ahrscalibration
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UAVOBJSRCFILENAMES += ahrssettings
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UAVOBJSRCFILENAMES += ahrsstatus
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UAVOBJSRCFILENAMES += inssettings
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UAVOBJSRCFILENAMES += insstatus
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UAVOBJSRCFILENAMES += attitudeactual
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UAVOBJSRCFILENAMES += attituderaw
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UAVOBJSRCFILENAMES += baroaltitude
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@ -1,5 +1,5 @@
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/* This is the size of the stack for early init and for all FreeRTOS IRQs */
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_irq_stack_size = 0x400;
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_irq_stack_size = 0x800;
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/* Check valid alignment for VTOR */
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ASSERT(ORIGIN(BL_FLASH) == ALIGN(ORIGIN(BL_FLASH), 0x80), "Start of memory region flash not aligned for startup vector table");
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@ -989,29 +989,6 @@
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</default>
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</ImportExportGadget>
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<LineardialGadget>
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<AHRS__PCT__20CPU>
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<configInfo>
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<locked>false</locked>
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<version>0.0.0</version>
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</configInfo>
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<data>
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<dFile>%%DATAPATH%%dials/default/lineardial-vertical.svg</dFile>
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<decimalPlaces>0</decimalPlaces>
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<factor>1</factor>
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<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
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<greenMax>50</greenMax>
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<greenMin>0</greenMin>
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<maxValue>100</maxValue>
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<minValue>0</minValue>
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<redMax>100</redMax>
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<redMin>80</redMin>
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<sourceDataObject>AhrsStatus</sourceDataObject>
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<sourceObjectField>CPULoad</sourceObjectField>
|
||||
<useOpenGLFlag>false</useOpenGLFlag>
|
||||
<yellowMax>80</yellowMax>
|
||||
<yellowMin>50</yellowMin>
|
||||
</data>
|
||||
</AHRS__PCT__20CPU>
|
||||
<Accel__PCT__20Horizontal__PCT__20X>
|
||||
<configInfo>
|
||||
<locked>false</locked>
|
||||
|
||||
@ -24,11 +24,10 @@ OTHER_FILES += UAVObjects.pluginspec
|
||||
|
||||
# Add in all of the synthetic/generated uavobject files
|
||||
HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \
|
||||
$$UAVOBJECT_SYNTHETICS/ahrsstatus.h \
|
||||
$$UAVOBJECT_SYNTHETICS/ahrscalibration.h \
|
||||
$$UAVOBJECT_SYNTHETICS/insstatus.h \
|
||||
$$UAVOBJECT_SYNTHETICS/baroaltitude.h \
|
||||
$$UAVOBJECT_SYNTHETICS/attitudeactual.h \
|
||||
$$UAVOBJECT_SYNTHETICS/ahrssettings.h \
|
||||
$$UAVOBJECT_SYNTHETICS/inssettings.h \
|
||||
$$UAVOBJECT_SYNTHETICS/gcstelemetrystats.h \
|
||||
$$UAVOBJECT_SYNTHETICS/attituderaw.h \
|
||||
$$UAVOBJECT_SYNTHETICS/camerastabsettings.h \
|
||||
@ -74,11 +73,10 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \
|
||||
$$UAVOBJECT_SYNTHETICS/cameradesired.h
|
||||
|
||||
SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/ahrsstatus.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/ahrscalibration.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/insstatus.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/baroaltitude.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/attitudeactual.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/ahrssettings.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/inssettings.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/gcstelemetrystats.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/attituderaw.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/camerastabsettings.cpp \
|
||||
|
||||
@ -1,23 +0,0 @@
|
||||
<xml>
|
||||
<object name="AHRSCalibration" singleinstance="true" settings="true">
|
||||
<description>Contains the calibration settings for the @ref AHRSCommsModule</description>
|
||||
<field name="measure_var" units="" type="enum" elements="1" options="SET,MEASURE" defaultvalue="SET"/>
|
||||
<field name="accel_bias" units="m/s" type="float" elementnames="X,Y,Z" defaultvalue="-73.5,-73.5,73.5"/>
|
||||
<field name="accel_scale" units="(m/s)/lsb" type="float" elementnames="X,Y,Z" defaultvalue="0.0359,0.0359,0.0359"/>
|
||||
<field name="accel_ortho" units="scale" type="float" elementnames="XY,XZ,YZ" defaultvalue="0.0,0.0,0.0"/>
|
||||
<field name="accel_var" units="(m/s)^2" type="float" elementnames="X,Y,Z" defaultvalue="5e-4"/>
|
||||
<field name="gyro_bias" units="rad/s" type="float" elementnames="X,Y,Z" defaultvalue="28,-28,28"/>
|
||||
<field name="gyro_scale" units="(rad/s)/lsb" type="float" elementnames="X,Y,Z" defaultvalue="-0.017,0.017,-0.017"/>
|
||||
<field name="gyro_var" units="(rad/s)^2" type="float" elementnames="X,Y,Z" defaultvalue="1e-4"/>
|
||||
<field name="gyro_tempcompfactor" units="raw/raw" type="float" elementnames="X,Y,Z" defaultvalue="0"/>
|
||||
<field name="mag_bias" units="mGau" type="float" elementnames="X,Y,Z" defaultvalue="0"/>
|
||||
<field name="mag_scale" units="(mGau)/lsb" type="float" elementnames="X,Y,Z" defaultvalue="1"/>
|
||||
<field name="mag_var" units="mGau^2" type="float" elementnames="X,Y,Z" defaultvalue="50"/>
|
||||
<field name="vel_var" units="(m/s)^2" type="float" elements="1" defaultvalue="10"/>
|
||||
<field name="pos_var" units="m^2" type="float" elements="1" defaultvalue="0.04"/>
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
|
||||
<telemetryflight acked="true" updatemode="onchange" period="0"/>
|
||||
<logging updatemode="never" period="0"/>
|
||||
</object>
|
||||
</xml>
|
||||
@ -1,16 +0,0 @@
|
||||
<xml>
|
||||
<object name="AHRSSettings" singleinstance="true" settings="true">
|
||||
<description>Settings for the @ref AHRSCommsModule to control the algorithm and what is updated</description>
|
||||
<field name="Algorithm" units="" type="enum" elements="1" options="SIMPLE,INSGPS_INDOOR_NOMAG,INSGPS_INDOOR,INSGPS_OUTDOOR" defaultvalue="INSGPS_INDOOR_NOMAG"/>
|
||||
<field name="Downsampling" units="" type="uint8" elements="1" defaultvalue="20"/>
|
||||
<field name="UpdatePeriod" units="ms" type="uint8" elements="1" defaultvalue="1"/>
|
||||
<field name="BiasCorrectedRaw" units="" type="enum" elements="1" options="TRUE,FALSE" defaultvalue="TRUE"/>
|
||||
<field name="YawBias" units="" type="float" elements="1" defaultvalue="0"/>
|
||||
<field name="PitchBias" units="" type="float" elements="1" defaultvalue="0"/>
|
||||
<field name="RollBias" units="" type="float" elements="1" defaultvalue="0"/>
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
|
||||
<telemetryflight acked="true" updatemode="onchange" period="0"/>
|
||||
<logging updatemode="never" period="0"/>
|
||||
</object>
|
||||
</xml>
|
||||
25
shared/uavobjectdefinition/inssettings.xml
Normal file
25
shared/uavobjectdefinition/inssettings.xml
Normal file
@ -0,0 +1,25 @@
|
||||
<xml>
|
||||
<object name="InsSettings" singleinstance="true" settings="true">
|
||||
<description>Settings for the INS to control the algorithm and what is updated</description>
|
||||
<field name="Algorithm" units="" type="enum" elements="1" options="NONE,SIMPLE,CALIBRATION,INSGPS_INDOOR_NOMAG,INSGPS_INDOOR,INSGPS_OUTDOOR" defaultvalue="INSGPS_INDOOR_NOMAG"/>
|
||||
<field name="BiasCorrectedRaw" units="" type="enum" elements="1" options="TRUE,FALSE" defaultvalue="TRUE"/>
|
||||
|
||||
<!-- Sensor noises -->
|
||||
<field name="accel_bias" units="m/s" type="float" elementnames="X,Y,Z" defaultvalue="0,0,0"/>
|
||||
<field name="accel_scale" units="gain" type="float" elementnames="X,Y,Z" defaultvalue="1,1,1"/>
|
||||
<field name="accel_var" units="(m/s)^2" type="float" elementnames="X,Y,Z" defaultvalue="5e-4"/>
|
||||
<field name="gyro_bias" units="deg/s" type="float" elementnames="X,Y,Z" defaultvalue="0,0,0"/>
|
||||
<field name="gyro_scale" units="gain" type="float" elementnames="X,Y,Z" defaultvalue="0,0,0"/>
|
||||
<field name="gyro_var" units="(deg/s)^2" type="float" elementnames="X,Y,Z" defaultvalue="1e-4"/>
|
||||
<field name="mag_bias" units="mGau" type="float" elementnames="X,Y,Z" defaultvalue="0,0,0"/>
|
||||
<field name="mag_scale" units="gain" type="float" elementnames="X,Y,Z" defaultvalue="1"/>
|
||||
<field name="mag_var" units="mGau^2" type="float" elementnames="X,Y,Z" defaultvalue="50"/>
|
||||
<field name="vel_var" units="(m/s)^2" type="float" elements="1" defaultvalue="10"/>
|
||||
<field name="pos_var" units="m^2" type="float" elements="1" defaultvalue="0.04"/>
|
||||
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
|
||||
<telemetryflight acked="true" updatemode="onchange" period="0"/>
|
||||
<logging updatemode="never" period="0"/>
|
||||
</object>
|
||||
</xml>
|
||||
@ -1,5 +1,5 @@
|
||||
<xml>
|
||||
<object name="AhrsStatus" singleinstance="true" settings="false">
|
||||
<object name="InsStatus" singleinstance="true" settings="false">
|
||||
<description>Status for the @ref AHRSCommsModule, including communication errors</description>
|
||||
<field name="SerialNumber" units="" type="uint8" elements="8"/>
|
||||
<field name="CPULoad" units="count" type="uint8" elements="1"/>
|
||||
Loading…
Reference in New Issue
Block a user