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Code Issues Releases Activity

Use the sensor variances from object

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This commit is contained in:
James Cotton 2012-03-01 04:52:09 -06:00
parent ce2d1f94f6
commit 71d0180d45
1 changed files with 16 additions and 18 deletions
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34
flight/Modules/Attitude/revolution/attitude.c
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@ -62,6 +62,7 @@
#include "magnetometer.h" #include "magnetometer.h"
#include "nedposition.h" #include "nedposition.h"
#include "positionactual.h" #include "positionactual.h"
#include "revocalibration.h"
#include "revosettings.h" #include "revosettings.h"
#include "velocityactual.h" #include "velocityactual.h"
#include "CoordinateConversions.h" #include "CoordinateConversions.h"
@ -85,8 +86,9 @@ static xQueueHandle baroQueue;
static xQueueHandle gpsQueue; static xQueueHandle gpsQueue;
static AttitudeSettingsData attitudeSettings; static AttitudeSettingsData attitudeSettings;
static RevoSettingsData revoSettings;
static HomeLocationData homeLocation; static HomeLocationData homeLocation;
static RevoCalibrationData revoCalibration;
static RevoSettingsData revoSettings;
const uint32_t SENSOR_QUEUE_SIZE = 10; const uint32_t SENSOR_QUEUE_SIZE = 10;
// Private functions // Private functions
@ -483,25 +485,20 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE,SYSTEMALARMS_ALARM_ERROR); AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE,SYSTEMALARMS_ALARM_ERROR);
else else
AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE); AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
if (!inited && mag_updated && baro_updated && (gps_updated || !outdoor_mode)) { if (!inited && mag_updated && baro_updated && (gps_updated || !outdoor_mode)) {
// Don't initialize until all sensors are read // Don't initialize until all sensors are read
if (init_stage == 0 && !outdoor_mode) { if (init_stage == 0 && !outdoor_mode) {
float Pdiag[16]={25.0f,25.0f,25.0f,5.0f,5.0f,5.0f,1e-5f,1e-5f,1e-5f,1e-5f,1e-5f,1e-5f,1e-5f,1e-4f,1e-4f,1e-4f}; float Pdiag[16]={25.0f,25.0f,25.0f,5.0f,5.0f,5.0f,1e-5f,1e-5f,1e-5f,1e-5f,1e-5f,1e-5f,1e-5f,1e-4f,1e-4f,1e-4f};
float q[4]; float q[4];
float var[3] = {500.0f, 500.0f, 500.0f};
float pos[3] = {0.0f, 0.0f, 0.0f}; float pos[3] = {0.0f, 0.0f, 0.0f};
pos[2] = baroData.Altitude * -1.0f; pos[2] = baroData.Altitude * -1.0f;
// Reset the INS algorithm // Reset the INS algorithm
INSGPSInit(); INSGPSInit();
var[0] = var[1] = 1e-4f; INSSetMagVar(revoCalibration.mag_var);
var[2] = 1e-1f; INSSetAccelVar(revoCalibration.accel_var);
INSSetMagVar(var); INSSetGyroVar(revoCalibration.gyro_var);
var[0] = var[1] = var[2] = 1.5e-6f;
INSSetAccelVar(var);
var[0] = var[1] = var[2] = 2.0e-4f;
INSSetGyroVar(var);
// Set initial attitude // Set initial attitude
float rpy[3]; float rpy[3];
@ -520,17 +517,12 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
float q[4], rpy[3]; float q[4], rpy[3];
float Pdiag[16]={25.0f,25.0f,25.0f,5.0f,5.0f,5.0f,1e-5f,1e-5f,1e-5f,1e-5f,1e-5f,1e-5f,1e-5f,1e-4f,1e-4f,1e-4f}; float Pdiag[16]={25.0f,25.0f,25.0f,5.0f,5.0f,5.0f,1e-5f,1e-5f,1e-5f,1e-5f,1e-5f,1e-5f,1e-5f,1e-4f,1e-4f,1e-4f};
float NED[3]; float NED[3];
float var[3];
// Reset the INS algorithm // Reset the INS algorithm
INSGPSInit(); INSGPSInit();
var[0] = var[1] = 1e-4f; INSSetMagVar(revoCalibration.mag_var);
var[2] = 1e-1f; INSSetAccelVar(revoCalibration.accel_var);
INSSetMagVar(var); INSSetGyroVar(revoCalibration.gyro_var);
var[0] = var[1] = var[2] = 1.5e-5f;
INSSetAccelVar(var);
var[0] = var[1] = var[2] = 2.0e-4f;
INSSetGyroVar(var);
INSSetMagNorth(home.Be); INSSetMagNorth(home.Be);
@ -709,6 +701,7 @@ static void settingsUpdatedCb(UAVObjEvent * objEv)
float lat, lon, alt; float lat, lon, alt;
AttitudeSettingsGet(&attitudeSettings); AttitudeSettingsGet(&attitudeSettings);
RevoCalibrationGet(&revoCalibration);
RevoSettingsGet(&revoSettings); RevoSettingsGet(&revoSettings);
HomeLocationGet(&homeLocation); HomeLocationGet(&homeLocation);
@ -724,6 +717,11 @@ static void settingsUpdatedCb(UAVObjEvent * objEv)
lon = homeLocation.Longitude / 10.0e6 * DEG2RAD; lon = homeLocation.Longitude / 10.0e6 * DEG2RAD;
alt = homeLocation.Altitude; alt = homeLocation.Altitude;
// In case INS currently running
INSSetMagVar(revoCalibration.mag_var);
INSSetAccelVar(revoCalibration.accel_var);
INSSetGyroVar(revoCalibration.gyro_var);
T[0] = alt+6.378137E6f; T[0] = alt+6.378137E6f;
T[1] = cosf(lat)*(alt+6.378137E6f); T[1] = cosf(lat)*(alt+6.378137E6f);
T[2] = -1.0f; T[2] = -1.0f;