rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-02-19 09:54:15 +01:00
Code Issues Releases Activity

OP-254 Do not reset accel bias before running the calibration, only correct it: should improve precision and lead to better results (and improving each time the procedure is launched again).

Browse Source 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2391 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
edouard 2011-01-12 21:21:06 +00:00 committed by edouard
parent b7cb562009
commit cb2aa1d389
1 changed files with 14 additions and 18 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

32
ground/src/plugins/config/configahrswidget.cpp
View File

@ -251,6 +251,7 @@ void ConfigAHRSWidget::resizeEvent(QResizeEvent *event)
void ConfigAHRSWidget::launchAccelBiasCalibration()
{
m_ahrs->accelBiasStart->setEnabled(false);
m_ahrs->accelBiasProgress->setValue(0);
// Setup the AHRS to give us the right data at the right rate:
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AHRSSettings")));
@ -263,10 +264,10 @@ void ConfigAHRSWidget::launchAccelBiasCalibration()
accel_accum_z.clear();
UAVDataObject* ahrsCalib = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AHRSCalibration")));
ahrsCalib->getField("accel_bias")->setDouble(0,0);
ahrsCalib->getField("accel_bias")->setDouble(0,1);
ahrsCalib->getField("accel_bias")->setDouble(0,2);
ahrsCalib->updated();
// ahrsCalib->getField("accel_bias")->setDouble(0,0);
// ahrsCalib->getField("accel_bias")->setDouble(0,1);
// ahrsCalib->getField("accel_bias")->setDouble(0,2);
// ahrsCalib->updated();
/* Need to get as many AttitudeRaw updates as possible */
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AttitudeRaw")));
@ -306,26 +307,21 @@ void ConfigAHRSWidget::accelBiasattitudeRawUpdated(UAVObject *obj)
m_ahrs->accelBiasStart->setEnabled(true);
UAVDataObject* ahrsCalib = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AHRSCalibration")));
/*
double xScale = ahrsCalib->getField("accel_scale")->getDouble(0);
double yScale = ahrsCalib->getField("accel_scale")->getDouble(1);
double zScale = ahrsCalib->getField("accel_scale")->getDouble(2);
*/
UAVObjectField* field = ahrsCalib->getField("accel_bias");
double xBias = field->getDouble(0)- listMean(accel_accum_x);
double yBias = field->getDouble(1) - listMean(accel_accum_y);
double zBias = -9.81 + field->getDouble(2) - listMean(accel_accum_z);
double xBias = - listMean(accel_accum_x);
double yBias = - listMean(accel_accum_y);
double zBias = -9.81 - listMean(accel_accum_z);
ahrsCalib->getField("accel_bias")->setDouble(xBias,0);
ahrsCalib->getField("accel_bias")->setDouble(yBias,1);
ahrsCalib->getField("accel_bias")->setDouble(zBias,2);
field->setDouble(xBias,0);
field->setDouble(yBias,1);
field->setDouble(zBias,2);
ahrsCalib->updated();
getObjectManager()->getObject(QString("AttitudeRaw"))->setMetadata(initialMdata);
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AHRSSettings")));
UAVObjectField* field = obj->getField(QString("BiasCorrectedRaw"));
field = obj->getField(QString("BiasCorrectedRaw"));
field->setValue("TRUE");
obj->updated();
@ -337,7 +333,7 @@ void ConfigAHRSWidget::accelBiasattitudeRawUpdated(UAVObject *obj)
/**
Starts an Gyro temperature drift calibration.
Starts a Gyro temperature drift calibration.
*/
void ConfigAHRSWidget::launchGyroDriftCalibration()
{