rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-12-01 09:24:10 +01:00
Code Issues Releases Activity

Make gyro bias in deg/s * 100 to calibrate more precisely.

Browse Source
This commit is contained in:
James Cotton 2011-06-24 10:51:07 -05:00
parent 5127d1e7ba
commit e6ad21d881
3 changed files with 7 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
flight/Modules/Attitude/attitude.c
View File

@ -338,9 +338,9 @@ static void settingsUpdatedCb(UAVObjEvent * objEv) {
accelbias[1] = attitudeSettings.AccelBias[ATTITUDESETTINGS_ACCELBIAS_Y]; accelbias[1] = attitudeSettings.AccelBias[ATTITUDESETTINGS_ACCELBIAS_Y];
accelbias[2] = attitudeSettings.AccelBias[ATTITUDESETTINGS_ACCELBIAS_Z]; accelbias[2] = attitudeSettings.AccelBias[ATTITUDESETTINGS_ACCELBIAS_Z];
gyro_correct_int[0] = attitudeSettings.GyroBias[ATTITUDESETTINGS_GYROBIAS_X]; gyro_correct_int[0] = attitudeSettings.GyroBias[ATTITUDESETTINGS_GYROBIAS_X] / 100.0f;
gyro_correct_int[1] = attitudeSettings.GyroBias[ATTITUDESETTINGS_GYROBIAS_Y]; gyro_correct_int[1] = attitudeSettings.GyroBias[ATTITUDESETTINGS_GYROBIAS_Y] / 100.0f;
gyro_correct_int[2] = attitudeSettings.GyroBias[ATTITUDESETTINGS_GYROBIAS_Z]; gyro_correct_int[2] = attitudeSettings.GyroBias[ATTITUDESETTINGS_GYROBIAS_Z] / 100.0f;
// Indicates not to expend cycles on rotation // Indicates not to expend cycles on rotation
if(attitudeSettings.BoardRotation[0] == 0 && attitudeSettings.BoardRotation[1] == 0 && if(attitudeSettings.BoardRotation[0] == 0 && attitudeSettings.BoardRotation[1] == 0 &&

6
ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp
View File

@ -94,9 +94,9 @@ void ConfigCCAttitudeWidget::attitudeRawUpdated(UAVObject * obj) {
float y_bias = listMean(y_accum) / ACCEL_SCALE; float y_bias = listMean(y_accum) / ACCEL_SCALE;
float z_bias = (listMean(z_accum) + 9.81) / ACCEL_SCALE; float z_bias = (listMean(z_accum) + 9.81) / ACCEL_SCALE;
float x_gyro_bias = listMean(x_gyro_accum); float x_gyro_bias = listMean(x_gyro_accum) * 100.0f;
float y_gyro_bias = listMean(y_gyro_accum); float y_gyro_bias = listMean(y_gyro_accum) * 100.0f;
float z_gyro_bias = listMean(z_gyro_accum); float z_gyro_bias = listMean(z_gyro_accum) * 100.0f;
obj->setMetadata(initialMdata); obj->setMetadata(initialMdata);
AttitudeSettings::DataFields attitudeSettingsData = AttitudeSettings::GetInstance(getObjectManager())->getData(); AttitudeSettings::DataFields attitudeSettingsData = AttitudeSettings::GetInstance(getObjectManager())->getData();

2
shared/uavobjectdefinition/attitudesettings.xml
View File

@ -2,7 +2,7 @@
<object name="AttitudeSettings" singleinstance="true" settings="true"> <object name="AttitudeSettings" singleinstance="true" settings="true">
<description>Settings for the @ref Attitude module used on CopterControl</description> <description>Settings for the @ref Attitude module used on CopterControl</description>
<field name="AccelBias" units="lsb" type="int16" elementnames="X,Y,Z" defaultvalue="0"/> <field name="AccelBias" units="lsb" type="int16" elementnames="X,Y,Z" defaultvalue="0"/>
<field name="GyroBias" units="deg/s" type="int8" elementnames="X,Y,Z" defaultvalue="0"/> <field name="GyroBias" units="deg/s * 100" type="int16" elementnames="X,Y,Z" defaultvalue="0"/>
<field name="BoardRotation" units="deg" type="int16" elementnames="Roll,Pitch,Yaw" defaultvalue="0,0,0"/> <field name="BoardRotation" units="deg" type="int16" elementnames="Roll,Pitch,Yaw" defaultvalue="0,0,0"/>
<field name="GyroGain" units="(rad/s)/lsb" type="float" elements="1" defaultvalue="0.42"/> <field name="GyroGain" units="(rad/s)/lsb" type="float" elements="1" defaultvalue="0.42"/>
<field name="AccelKp" units="channel" type="float" elements="1" defaultvalue="0.03"/> <field name="AccelKp" units="channel" type="float" elements="1" defaultvalue="0.03"/>