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Code Issues Releases Activity

Take quidance settings from simulation and make the INSGPS pick up the GPS

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noise from a setting.
This commit is contained in:
James Cotton 2012-04-06 12:59:49 -05:00
parent 3071f77d59
commit ea13536da0
3 changed files with 8 additions and 6 deletions
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2
flight/Modules/Attitude/revolution/attitude.c
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@ -652,7 +652,7 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
if(gps_updated && outdoor_mode)
{
INSSetPosVelVar(1.0e0f, 1.0e0f);
INSSetPosVelVar(revoCalibration.gps_var[REVOCALIBRATION_GPS_VAR_POS], revoCalibration.gps_var[REVOCALIBRATION_GPS_VAR_VEL]);
sensors |= POS_SENSORS | HORIZ_SENSORS;
GPSPositionData gpsPosition;
GPSPositionGet(&gpsPosition);

10
shared/uavobjectdefinition/guidancesettings.xml
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@ -2,14 +2,14 @@
<object name="GuidanceSettings" singleinstance="true" settings="true">
<description>Settings for the @ref GuidanceModule</description>
<field name="GuidanceMode" units="" type="enum" elements="1" options="DUAL_LOOP,VELOCITY_CONTROL" defaultvalue="DUAL_LOOP"/>
<field name="HorizontalVelMax" units="m/s" type="uint16" elements="1" defaultvalue="300"/>
<field name="VerticalVelMax" units="m/s" type="uint16" elements="1" defaultvalue="150"/>
<field name="HorizontalPosPI" units="(m/s)/m" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="0.1,0.001,300"/>
<field name="HorizontalVelPID" units="deg/(m/s)" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.05,0.002,0,1000"/>
<field name="HorizontalVelMax" units="m/s" type="uint16" elements="1" defaultvalue="10"/>
<field name="VerticalVelMax" units="m/s" type="uint16" elements="1" defaultvalue="1"/>
<field name="HorizontalPosPI" units="(m/s)/m" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="1,0,0"/>
<field name="HorizontalVelPID" units="deg/(m/s)" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="10,0,1,0"/>
<field name="VerticalPosPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="0.1,0.001,200"/>
<field name="VerticalVelPID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.1,0,0,0"/>
<field name="ThrottleControl" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="MaxRollPitch" units="deg" type="float" elements="1" defaultvalue="10"/>
<field name="MaxRollPitch" units="deg" type="float" elements="1" defaultvalue="20"/>
<field name="UpdatePeriod" units="" type="int32" elements="1" defaultvalue="100"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>

2
shared/uavobjectdefinition/revocalibration.xml
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@ -15,6 +15,8 @@
<field name="mag_scale" units="gain" type="float" elementnames="X,Y,Z" defaultvalue="1"/>
<field name="mag_var" units="mGau^2" type="float" elementnames="X,Y,Z" defaultvalue="50"/>
<field name="gps_var" units="m^2" type="float" elementnames="Pos,Vel" defaultvalue="1,1"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>