rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-01-29 14:52:12 +01:00
Code Issues Releases Activity

AHRS: Some more tweaking of the timings.

Browse Source 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1603 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-09-12 22:18:18 +00:00 committed by peabody124
parent 10cfeeb35f
commit 76971a807c
3 changed files with 8 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
flight/AHRS/ahrs.c
View File

@ -69,7 +69,7 @@ void DMA1_Channel1_IRQHandler() __attribute__ ((alias ("AHRS_ADC_DMA_Handler")))
* @{
*/
// Currently analog acquistion hard coded at 480 Hz
#define ADC_OVERSAMPLE 40
#define ADC_OVERSAMPLE 48
#define EKF_RATE ((float) 4*480 / ADC_OVERSAMPLE)
#define ADC_CONTINUOUS_CHANNELS PIOS_ADC_NUM_PINS
#define CORRECTION_COUNT 4
@ -388,6 +388,7 @@ int main()
vel[1] = 0;
vel[2] = 0;
VelBaroCorrection(vel,altitude_data.altitude);
// MagVelBaroCorrection(mag,vel,altitude_data.altitude); // only trust mags if outdoors
}
attitude_data.quaternion.q1 = Nav.q[0];

1
flight/AHRS/inc/insgps.h
View File

@ -59,6 +59,7 @@ void INSSetMagNorth(float B[3]);
void INSSetMagVar(float scaled_mag_var[3]);
void MagCorrection(float mag_data[3]);
void MagVelBaroCorrection(float mag_data[3], float Vel[3], float BaroAlt);
void FullCorrection(float mag_data[3], float Pos[3], float Vel[3], float BaroAlt);
void GpsMagCorrection(float mag_data[3], float Pos[3], float Vel[2]);
void VelBaroCorrection(float Vel[3], float BaroAlt);

5
flight/AHRS/insgps.c
View File

@ -173,6 +173,11 @@ void MagCorrection(float mag_data[3])
INSCorrection(mag_data, zeros, zeros, zeros[0], MAG_SENSORS);
}
void MagVelBaroCorrection(float mag_data[3], float Vel[3], float BaroAlt)
{
INSCorrection(mag_data, zeros, Vel, BaroAlt, MAG_SENSORS | HORIZ_SENSORS | VERT_SENSORS | BARO_SENSOR);
}
void FullCorrection(float mag_data[3], float Pos[3], float Vel[3], float BaroAlt)
{
INSCorrection(mag_data, Pos, Vel, BaroAlt, FULL_SENSORS);