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Code Issues Releases Activity

made low pass filter alpha a setting

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This commit is contained in:
Corvus Corax 2013-07-20 10:40:29 +02:00
parent 1049f483a5
commit b3cbb57a2b
2 changed files with 3 additions and 2 deletions
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4
flight/modules/Airspeed/gps_airspeed.c
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@ -102,7 +102,7 @@ void gps_airspeedInitialize()
* where "f" is the fuselage vector in earth coordinates.
* We then solve for |V| = |V_gps_2-V_gps_1|/ |f_2 - f1|.
*/
void gps_airspeedGet(AirspeedSensorData *airspeedData, __attribute__((unused)) AirspeedSettingsData *airspeedSettings)
void gps_airspeedGet(AirspeedSensorData *airspeedData, AirspeedSettingsData *airspeedSettings)
{
float Rbe[3][3];
@ -143,7 +143,7 @@ void gps_airspeedGet(AirspeedSensorData *airspeedData, __attribute__((unused)) A
airspeedData->SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
} else {
// need a low pass filter to filter out spikes in non coordinated maneuvers
airspeedData->CalibratedAirspeed = 0.99f * gps->oldAirspeed + 0.01f * airspeed;
airspeedData->CalibratedAirspeed = (1.0f - airspeedSettings->GroundSpeedBasedEstimationLowPassAlpha) * gps->oldAirspeed + airspeedSettings->GroundSpeedBasedEstimationLowPassAlpha * airspeed;
gps->oldAirspeed = airspeedData->CalibratedAirspeed;
airspeedData->SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_TRUE;
}

1
shared/uavobjectdefinition/airspeedsettings.xml
View File

@ -5,6 +5,7 @@
<field name="ZeroPoint" units="raw" type="uint16" elements="1" defaultvalue="0"/>
<field name="Scale" units="raw" type="float" elements="1" defaultvalue="1.0"/>
<field name="AirspeedSensorType" units="" type="enum" elements="1" options="EagleTreeAirspeedV3,DIYDronesMPXV5004,DIYDronesMPXV7002,GroundSpeedBasedWindEstimation" defaultvalue="DIYDronesMPXV7002"/>
<field name="GroundSpeedBasedEstimationLowPassAlpha" units="" type="float" elements="1" defaultvalue="0.08" />
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>