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Merge remote-tracking branch 'origin/os/baro-offset-lpf' into next

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This commit is contained in:
Oleg Semyonov 2013-07-30 23:41:37 +02:00
commit 77a6db3007
2 changed files with 15 additions and 9 deletions
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18
flight/modules/StateEstimation/filterbaro.c
View File

@ -32,19 +32,16 @@
#include "inc/stateestimation.h"
#include <revosettings.h>
// Private constants
#define STACK_REQUIRED 64
// low pass filter configuration to calculate offset
// of barometric altitude sensor
// reasoning: updates at: 10 Hz, tau= 300 s settle time
// exp(-(1/f) / tau ) ~=~ 0.9997
#define BARO_OFFSET_LOWPASS_ALPHA 0.9997f
// Private types
struct data {
float baroOffset;
float baroGPSOffsetCorrectionAlpha;
float baroAlt;
int16_t first_run;
};
@ -71,6 +68,10 @@ static int32_t init(stateFilter *self)
this->baroOffset = 0.0f;
this->first_run = 100;
RevoSettingsInitialize();
RevoSettingsBaroGPSOffsetCorrectionAlphaGet(&this->baroGPSOffsetCorrectionAlpha);
return 0;
}
@ -90,9 +91,8 @@ static int32_t filter(stateFilter *self, stateEstimation *state)
// Track barometric altitude offset with a low pass filter
// based on GPS altitude if available
if (IS_SET(state->updated, SENSORUPDATES_pos)) {
this->baroOffset = BARO_OFFSET_LOWPASS_ALPHA * this->baroOffset +
(1.0f - BARO_OFFSET_LOWPASS_ALPHA)
* (this->baroAlt + state->pos[2]);
this->baroOffset = this->baroOffset * this->baroGPSOffsetCorrectionAlpha +
(1.0f - this->baroGPSOffsetCorrectionAlpha) * (this->baroAlt + state->pos[2]);
}
// calculate bias corrected altitude
if (IS_SET(state->updated, SENSORUPDATES_baro)) {

6
shared/uavobjectdefinition/revosettings.xml
View File

@ -2,6 +2,12 @@
<object name="RevoSettings" singleinstance="true" settings="true" category="State">
<description>Settings for the revo to control the algorithm and what is updated</description>
<field name="FusionAlgorithm" units="" type="enum" elements="1" options="None,Complementary,Complementary+Mag,INS13Indoor,INS13Outdoor" defaultvalue="Complementary"/>
<!-- Low pass filter configuration to calculate offset of barometric altitude sensor.
Defaults: updates at 5 Hz, tau = 300s settle time, exp(-(1/f)/tau) ~= 0.9993335555062
Set BaroGPSOffsetCorrectionAlpha = 1.0 to completely disable baro offset updates. -->
<field name="BaroGPSOffsetCorrectionAlpha" units="" type="float" elements="1" defaultvalue="0.9993335555062"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>