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Code Issues Releases Activity

ported cyr's patch to new CF

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This commit is contained in:
Corvus Corax 2013-05-24 23:59:12 +02:00
parent 1353be6cb0
commit b916df5448
2 changed files with 25 additions and 13 deletions
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36
flight/modules/StateEstimation/filtercf.c
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@ -59,6 +59,7 @@ struct data {
bool magUpdated;
float accel_alpha;
bool accel_filter_enabled;
float rollPitchBiasRate;
int32_t timeval;
uint8_t init;
};
@ -207,8 +208,6 @@ static inline void apply_accel_filter(const struct data *this, const float *raw,
static int32_t complementaryFilter(struct data *this, float gyro[3], float accel[3], float mag[3], float attitude[4])
{
float dT;
float magKp = 0.0f; // TODO: make this non hardcoded at some point
float magKi = 0.000001f;
// During initialization and
if (this->first_run) {
@ -261,19 +260,26 @@ static int32_t complementaryFilter(struct data *this, float gyro[3], float accel
if ((this->init == 0 && xTaskGetTickCount() < 7000) && (xTaskGetTickCount() > 1000)) {
// For first 7 seconds use accels to get gyro bias
this->attitudeSettings.AccelKp = 1.0f;
this->attitudeSettings.AccelKi = 0.9f;
this->attitudeSettings.AccelKi = 0.0f;
this->attitudeSettings.YawBiasRate = 0.23f;
magKp = 1.0f;
this->accel_filter_enabled = false;
this->rollPitchBiasRate = 0.01f;
this->attitudeSettings.MagKp = 1.0f;
} else if ((this->attitudeSettings.ZeroDuringArming == ATTITUDESETTINGS_ZERODURINGARMING_TRUE) && (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMING)) {
this->attitudeSettings.AccelKp = 1.0f;
this->attitudeSettings.AccelKi = 0.9f;
this->attitudeSettings.AccelKi = 0.0f;
this->attitudeSettings.YawBiasRate = 0.23f;
magKp = 1.0f;
this->accel_filter_enabled = false;
this->rollPitchBiasRate = 0.01f;
this->attitudeSettings.MagKp = 1.0f;
this->init = 0;
} else if (this->init == 0) {
// Reload settings (all the rates)
AttitudeSettingsGet(&this->attitudeSettings);
magKp = 0.01f;
this->rollPitchBiasRate = 0.0f;
if (this->accel_alpha > 0.0f) {
this->accel_filter_enabled = true;
}
this->init = 1;
}
@ -356,22 +362,26 @@ static int32_t complementaryFilter(struct data *this, float gyro[3], float accel
mag_err[0] = mag_err[1] = mag_err[2] = 0.0f;
}
// Accumulate integral of error. Scale here so that units are (deg/s) but Ki has units of s
this->gyroBias[0] -= accel_err[0] * this->attitudeSettings.AccelKi;
this->gyroBias[1] -= accel_err[1] * this->attitudeSettings.AccelKi;
this->gyroBias[2] -= mag_err[2] * magKi;
// Correct rates based on integral coefficient
gyro[0] -= this->gyroBias[0];
gyro[1] -= this->gyroBias[1];
gyro[2] -= this->gyroBias[2];
// Accumulate integral of error. Scale here so that units are (deg/s) but Ki has units of s
this->gyroBias[0] -= accel_err[0] * this->attitudeSettings.AccelKi - gyro[0] * this->rollPitchBiasRate;
this->gyroBias[1] -= accel_err[1] * this->attitudeSettings.AccelKi - gyro[1] * this->rollPitchBiasRate;;
if (this->useMag) {
this->gyroBias[2] -= mag_err[2] * this->attitudeSettings.MagKi - gyro[2] * this->rollPitchBiasRate;
} else {
this->gyroBias[2] -= -gyro[2] * this->rollPitchBiasRate;
}
float gyrotmp[3] = { gyro[0], gyro[1], gyro[2] };
// Correct rates based on proportional coefficient
gyrotmp[0] += accel_err[0] * this->attitudeSettings.AccelKp / dT;
gyrotmp[1] += accel_err[1] * this->attitudeSettings.AccelKp / dT;
if (this->useMag) {
gyrotmp[2] += accel_err[2] * this->attitudeSettings.AccelKp / dT + mag_err[2] * magKp / dT;
gyrotmp[2] += accel_err[2] * this->attitudeSettings.AccelKp / dT + mag_err[2] * this->attitudeSettings.MagKp / dT;
} else {
gyrotmp[2] += accel_err[2] * this->attitudeSettings.AccelKp / dT;
}

2
shared/uavobjectdefinition/attitudesettings.xml
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@ -7,6 +7,8 @@
<field name="GyroGain" units="(rad/s)/lsb" type="float" elements="1" defaultvalue="0.42"/>
<field name="AccelKp" units="channel" type="float" elements="1" defaultvalue="0.05"/>
<field name="AccelKi" units="channel" type="float" elements="1" defaultvalue="0.0001"/>
<field name="MagKi" units="" type="float" elements="1" defaultvalue="0"/>
<field name="MagKp" units="" type="float" elements="1" defaultvalue="0"/>
<field name="AccelTau" units="" type="float" elements="1" defaultvalue="0"/>
<field name="YawBiasRate" units="channel" type="float" elements="1" defaultvalue="0.000001"/>
<field name="ZeroDuringArming" units="channel" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>