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Code Issues Releases Activity

Undo James removal of gyro_bias and gyro_scale in revocalibration

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Note that the EKF can only compensate for slow temperature drift, the gyros should be bias-zeroed before flight through calibration!
This commit is contained in:
Corvus Corax 2013-04-27 23:59:52 +02:00
parent 8d1baa2ceb
commit 98c90a67f5
1 changed files with 11 additions and 5 deletions
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16
flight/modules/Sensors/sensors.c
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@ -87,6 +87,8 @@ static float mag_bias[3] = {0,0,0};
static float mag_scale[3] = {0,0,0};
static float accel_bias[3] = {0,0,0};
static float accel_scale[3] = {0,0,0};
static float gyro_staticbias[3] = {0,0,0};
static float gyro_scale[3] = {0,0,0};
static float R[3][3] = {{0}};
static int8_t rotate = 0;
@ -357,9 +359,9 @@ static void SensorsTask(void *parameters)
float gyros[3] = {(float) gyro_accum[0] / gyro_samples,
(float) gyro_accum[1] / gyro_samples,
(float) gyro_accum[2] / gyro_samples};
float gyros_out[3] = {gyros[0] * gyro_scaling,
gyros[1] * gyro_scaling,
gyros[2] * gyro_scaling};
float gyros_out[3] = {gyros[0] * gyro_scaling * gyro_scale[0] - gyro_staticbias[0],
gyros[1] * gyro_scaling * gyro_scale[1] - gyro_staticbias[1],
gyros[2] * gyro_scaling * gyro_scale[2] - gyro_staticbias[2]};
if (rotate) {
rot_mult(R, gyros_out, gyros);
gyrosData.x = gyros[0];
@ -536,8 +538,12 @@ static void settingsUpdatedCb(UAVObjEvent * objEv) {
accel_scale[0] = cal.accel_scale[REVOCALIBRATION_ACCEL_SCALE_X];
accel_scale[1] = cal.accel_scale[REVOCALIBRATION_ACCEL_SCALE_Y];
accel_scale[2] = cal.accel_scale[REVOCALIBRATION_ACCEL_SCALE_Z];
// Do not store gyros_bias here as that comes from the state estimator and should be
// used from GyroBias directly
gyro_staticbias[0] = cal.gyro_bias[REVOCALIBRATION_GYRO_BIAS_X];
gyro_staticbias[1] = cal.gyro_bias[REVOCALIBRATION_GYRO_BIAS_Y];
gyro_staticbias[2] = cal.gyro_bias[REVOCALIBRATION_GYRO_BIAS_Z];
gyro_scale[0] = cal.gyro_scale[REVOCALIBRATION_GYRO_SCALE_X];
gyro_scale[1] = cal.gyro_scale[REVOCALIBRATION_GYRO_SCALE_Y];
gyro_scale[2] = cal.gyro_scale[REVOCALIBRATION_GYRO_SCALE_Z];
// Zero out any adaptive tracking
MagBiasData magBias;