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Code Issues Releases Activity

OP-171 AHRS: I was flipping sign of baro when putting into INS but shouldn't

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have been.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2175 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-11-29 08:44:43 +00:00 committed by peabody124
parent f51a5a824e
commit 74249f8e41
1 changed files with 3 additions and 3 deletions
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6
flight/AHRS/ahrs.c
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@ -170,7 +170,7 @@ void ins_outdoor_update()
* we should try and see if the altitude from the home location is good enough
* to use for the offset but for now starting with this conservative filter
*/
if(fabs(gps_data.NED[2] + altitude_data.altitude) > 10) {
if(fabs(gps_data.NED[2] + (altitude_data.altitude - baro_offset)) > 10) {
baro_offset = gps_data.NED[2] + altitude_data.altitude;
} else {
/* IIR filter with 100 second or so tau to keep them crudely in the same frame */
@ -198,7 +198,7 @@ void ins_outdoor_update()
* TODO: Need to add a general sanity check for all the inputs to make sure their kosher
* although probably should occur within INS itself
*/
INSCorrection(mag_data.scaled.axis, gps_data.NED, vel, -altitude_data.altitude - baro_offset, sensors);
INSCorrection(mag_data.scaled.axis, gps_data.NED, vel, altitude_data.altitude - baro_offset, sensors);
}
/**
@ -266,7 +266,7 @@ void ins_indoor_update()
* TODO: Need to add a general sanity check for all the inputs to make sure their kosher
* although probably should occur within INS itself
*/
INSCorrection(mag_data.scaled.axis, gps_data.NED, vel, -altitude_data.altitude, sensors | HORIZ_SENSORS | VERT_SENSORS);
INSCorrection(mag_data.scaled.axis, gps_data.NED, vel, altitude_data.altitude, sensors | HORIZ_SENSORS | VERT_SENSORS);
}
/**