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Code Issues Releases Activity

AHRS: Add a configuration to export the sensor data either with or without INS

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bias correction.  This is useful for stabilization to get rid of the gyro bias.
Making it an option is important for calibration.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2189 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-12-04 17:34:25 +00:00 committed by peabody124
parent 81b2f88e75
commit 6f1e7b4e41
8 changed files with 58 additions and 6 deletions
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17
flight/AHRS/ahrs.c
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@ -638,9 +638,9 @@ void downsample_data()
raw.gyrotemp[0] = valid_data_buffer[6];
raw.gyrotemp[1] = valid_data_buffer[7];
raw.gyros_filtered[0] = (gyro_data.filtered.x - Nav.gyro_bias[0]) * 180 / M_PI;
raw.gyros_filtered[1] = (gyro_data.filtered.y - Nav.gyro_bias[1]) * 180 / M_PI;
raw.gyros_filtered[2] = (gyro_data.filtered.z - Nav.gyro_bias[2]) * 180 / M_PI;
raw.gyros_filtered[0] = gyro_data.filtered.x * 180 / M_PI;
raw.gyros_filtered[1] = gyro_data.filtered.y * 180 / M_PI;
raw.gyros_filtered[2] = gyro_data.filtered.z * 180 / M_PI;
raw.accels[0] = valid_data_buffer[2];
raw.accels[1] = valid_data_buffer[0];
@ -654,6 +654,17 @@ void downsample_data()
raw.magnetometers[1] = mag_data.scaled.axis[1];
raw.magnetometers[2] = mag_data.scaled.axis[2];
AHRSSettingsData settings;
AHRSSettingsGet(&settings);
if(settings.BiasCorrectedRaw == AHRSSETTINGS_BIASCORRECTEDRAW_TRUE) {
raw.gyros_filtered[0] -= Nav.gyro_bias[0] * 180 / M_PI;
raw.gyros_filtered[1] -= Nav.gyro_bias[1] * 180 / M_PI;
raw.gyros_filtered[2] -= Nav.gyro_bias[2] * 180 / M_PI;
raw.accels_filtered[0] -= Nav.accel_bias[0];
raw.accels_filtered[1] -= Nav.accel_bias[1];
raw.accels_filtered[2] -= Nav.accel_bias[2];
}
AttitudeRawSet(&raw);
}

1
flight/OpenPilot/UAVObjects/ahrssettings.c
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@ -83,6 +83,7 @@ static void setDefaults(UAVObjHandle obj, uint16_t instId)
data.Algorithm = 1;
data.Downsampling = 20;
data.UpdatePeriod = 1;
data.BiasCorrectedRaw = 0;
data.YawBias = 0;
data.PitchBias = 0;
data.RollBias = 0;

6
flight/OpenPilot/UAVObjects/inc/ahrssettings.h
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@ -41,7 +41,7 @@
#define AHRSSETTINGS_H
// Object constants
#define AHRSSETTINGS_OBJID 1456050280U
#define AHRSSETTINGS_OBJID 3741078856U
#define AHRSSETTINGS_NAME "AHRSSettings"
#define AHRSSETTINGS_METANAME "AHRSSettingsMeta"
#define AHRSSETTINGS_ISSINGLEINST 1
@ -74,6 +74,7 @@ typedef struct {
uint8_t Algorithm;
uint8_t Downsampling;
uint8_t UpdatePeriod;
uint8_t BiasCorrectedRaw;
float YawBias;
float PitchBias;
float RollBias;
@ -86,6 +87,9 @@ typedef struct {
typedef enum { AHRSSETTINGS_ALGORITHM_SIMPLE=0, AHRSSETTINGS_ALGORITHM_INSGPS_INDOOR_NOMAG=1, AHRSSETTINGS_ALGORITHM_INSGPS_INDOOR=2, AHRSSETTINGS_ALGORITHM_INSGPS_OUTDOOR=3 } AHRSSettingsAlgorithmOptions;
// Field Downsampling information
// Field UpdatePeriod information
// Field BiasCorrectedRaw information
/* Enumeration options for field BiasCorrectedRaw */
typedef enum { AHRSSETTINGS_BIASCORRECTEDRAW_TRUE=0, AHRSSETTINGS_BIASCORRECTEDRAW_FALSE=1 } AHRSSettingsBiasCorrectedRawOptions;
// Field YawBias information
// Field PitchBias information
// Field RollBias information

12
ground/src/plugins/config/configahrswidget.cpp
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@ -557,6 +557,12 @@ void ConfigAHRSWidget::computeScaleBias()
obj->updated();
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AHRSSettings")));
field = obj->getField(QString("BiasCorrectedRaw"));
field->setValue("TRUE");
obj->updated();
position = -1; //set to run again
m_ahrs->sixPointCalibInstructions->append("Computed accel and mag scale and bias...");
@ -597,6 +603,12 @@ void ConfigAHRSWidget::sixPointCalibrationMode()
obj->updated();
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AHRSSettings")));
field = obj->getField(QString("BiasCorrectedRaw"));
field->setValue("FALSE");
obj->updated();
Thread::usleep(100000);
gyro_accum_x.clear();

7
ground/src/plugins/uavobjects/ahrssettings.cpp
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@ -56,6 +56,12 @@ AHRSSettings::AHRSSettings(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, NAM
QStringList UpdatePeriodElemNames;
UpdatePeriodElemNames.append("0");
fields.append( new UAVObjectField(QString("UpdatePeriod"), QString("ms"), UAVObjectField::UINT8, UpdatePeriodElemNames, QStringList()) );
QStringList BiasCorrectedRawElemNames;
BiasCorrectedRawElemNames.append("0");
QStringList BiasCorrectedRawEnumOptions;
BiasCorrectedRawEnumOptions.append("TRUE");
BiasCorrectedRawEnumOptions.append("FALSE");
fields.append( new UAVObjectField(QString("BiasCorrectedRaw"), QString(""), UAVObjectField::ENUM, BiasCorrectedRawElemNames, BiasCorrectedRawEnumOptions) );
QStringList YawBiasElemNames;
YawBiasElemNames.append("0");
fields.append( new UAVObjectField(QString("YawBias"), QString(""), UAVObjectField::FLOAT32, YawBiasElemNames, QStringList()) );
@ -101,6 +107,7 @@ void AHRSSettings::setDefaultFieldValues()
data.Algorithm = 1;
data.Downsampling = 20;
data.UpdatePeriod = 1;
data.BiasCorrectedRaw = 0;
data.YawBias = 0;
data.PitchBias = 0;
data.RollBias = 0;

6
ground/src/plugins/uavobjects/ahrssettings.h
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@ -46,6 +46,7 @@ public:
quint8 Algorithm;
quint8 Downsampling;
quint8 UpdatePeriod;
quint8 BiasCorrectedRaw;
float YawBias;
float PitchBias;
float RollBias;
@ -58,13 +59,16 @@ public:
typedef enum { ALGORITHM_SIMPLE=0, ALGORITHM_INSGPS_INDOOR_NOMAG=1, ALGORITHM_INSGPS_INDOOR=2, ALGORITHM_INSGPS_OUTDOOR=3 } AlgorithmOptions;
// Field Downsampling information
// Field UpdatePeriod information
// Field BiasCorrectedRaw information
/* Enumeration options for field BiasCorrectedRaw */
typedef enum { BIASCORRECTEDRAW_TRUE=0, BIASCORRECTEDRAW_FALSE=1 } BiasCorrectedRawOptions;
// Field YawBias information
// Field PitchBias information
// Field RollBias information
// Constants
static const quint32 OBJID = 1456050280U;
static const quint32 OBJID = 3741078856U;
static const QString NAME;
static const bool ISSINGLEINST = 1;
static const bool ISSETTINGS = 1;

14
ground/src/plugins/uavobjects/ahrssettings.py
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@ -71,6 +71,18 @@ _fields = [ \
{
}
),
uavobject.UAVObjectField(
'BiasCorrectedRaw',
'b',
1,
[
'0',
],
{
'0' : 'TRUE',
'1' : 'FALSE',
}
),
uavobject.UAVObjectField(
'YawBias',
'f',
@ -106,7 +118,7 @@ _fields = [ \
class AHRSSettings(uavobject.UAVObject):
## Object constants
OBJID = 1456050280
OBJID = 3741078856
NAME = "AHRSSettings"
METANAME = "AHRSSettingsMeta"
ISSINGLEINST = 1

1
ground/src/shared/uavobjectdefinition/ahrssettings.xml
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@ -4,6 +4,7 @@
<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"/>