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Code Issues Releases Activity

AHRS: Fixed silly bug that made the default mag variance be zero - explains "hopping around" default behavior. Still should run calibration though.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1439 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-08-27 21:05:41 +00:00 committed by peabody124
parent 5f9289f0c0
commit ced0a4b952
3 changed files with 7 additions and 7 deletions
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6
flight/OpenPilot/UAVObjects/ahrscalibration.c
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@ -102,9 +102,9 @@ static void setDefaults(UAVObjHandle obj, uint16_t instId)
data.mag_bias[0] = 0;
data.mag_bias[1] = 0;
data.mag_bias[2] = 0;
data.mag_var[0] = 0;
data.mag_var[1] = 0;
data.mag_var[2] = 0;
data.mag_var[0] = 5e-05;
data.mag_var[1] = 5e-05;
data.mag_var[2] = 5e-05;
UAVObjSetInstanceData(obj, instId, &data);

6
ground/src/plugins/uavobjects/ahrscalibration.cpp
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@ -143,9 +143,9 @@ void AHRSCalibration::setDefaultFieldValues()
data.mag_bias[0] = 0;
data.mag_bias[1] = 0;
data.mag_bias[2] = 0;
data.mag_var[0] = 0;
data.mag_var[1] = 0;
data.mag_var[2] = 0;
data.mag_var[0] = 5e-05;
data.mag_var[1] = 5e-05;
data.mag_var[2] = 5e-05;
}

2
ground/src/shared/uavobjectdefinition/ahrscalibration.xml
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@ -9,7 +9,7 @@
<field name="gyro_scale" units="deg/s" type="float" elementnames="X,Y,Z" defaultvalue="0.0070"/>
<field name="gyro_var" units="deg^s/s^2" type="float" elementnames="X,Y,Z" defaultvalue="1e-4"/>
<field name="mag_bias" units="mGau" type="float" elementnames="X,Y,Z" defaultvalue="0"/>
<field name="mag_var" units="mGau^s" type="float" elementnames="X,Y,Z" defaultvalue="5-e5"/>
<field name="mag_var" units="mGau^s" type="float" elementnames="X,Y,Z" defaultvalue="5e-5"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>