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Code Issues Releases Activity

StateEstimation: removed (not yet implemented) 16 state EKF support for now

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This commit is contained in:
Corvus Corax 2013-06-25 19:30:21 +02:00
parent 5bdfad4bdb
commit f2abe1f5c7
2 changed files with 1 additions and 40 deletions
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39
flight/modules/StateEstimation/stateestimation.c
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@ -129,8 +129,6 @@ static stateFilter cfFilter;
static stateFilter cfmFilter;
static stateFilter ekf13iFilter;
static stateFilter ekf13Filter;
static stateFilter ekf16Filter;
static stateFilter ekf16iFilter;
// preconfigured filter chains selectable via revoSettings.FusionAlgorithm
static filterPipeline *cfQueue = &(filterPipeline) {
@ -188,35 +186,6 @@ static const filterPipeline *ekf13Queue = &(filterPipeline) {
}
}
};
static const filterPipeline *ekf16iQueue = &(filterPipeline) {
.filter = &magFilter,
.next = &(filterPipeline) {
.filter = &airFilter,
.next = &(filterPipeline) {
.filter = &baroFilter,
.next = &(filterPipeline) {
.filter = &stationaryFilter,
.next = &(filterPipeline) {
.filter = &ekf16iFilter,
.next = NULL,
}
}
}
}
};
static const filterPipeline *ekf16Queue = &(filterPipeline) {
.filter = &magFilter,
.next = &(filterPipeline) {
.filter = &airFilter,
.next = &(filterPipeline) {
.filter = &baroFilter,
.next = &(filterPipeline) {
.filter = &ekf16Filter,
.next = NULL,
}
}
}
};
// Private functions
@ -274,8 +243,6 @@ int32_t StateEstimationInitialize(void)
stack_required = maxint32_t(stack_required, filterCFMInitialize(&cfmFilter));
stack_required = maxint32_t(stack_required, filterEKF13iInitialize(&ekf13iFilter));
stack_required = maxint32_t(stack_required, filterEKF13Initialize(&ekf13Filter));
stack_required = maxint32_t(stack_required, filterEKF16Initialize(&ekf16Filter));
stack_required = maxint32_t(stack_required, filterEKF16iInitialize(&ekf16iFilter));
stateEstimationCallback = DelayedCallbackCreate(&StateEstimationCb, CALLBACK_PRIORITY, TASK_PRIORITY, stack_required);
@ -353,12 +320,6 @@ static void StateEstimationCb(void)
case REVOSETTINGS_FUSIONALGORITHM_INS13OUTDOOR:
newFilterChain = ekf13Queue;
break;
case REVOSETTINGS_FUSIONALGORITHM_INS16INDOOR:
newFilterChain = ekf16iQueue;
break;
case REVOSETTINGS_FUSIONALGORITHM_INS16OUTDOOR:
newFilterChain = ekf16Queue;
break;
default:
newFilterChain = NULL;
}

2
shared/uavobjectdefinition/revosettings.xml
View File

@ -1,7 +1,7 @@
<xml>
<object name="RevoSettings" singleinstance="true" settings="true" category="State">
<description>Settings for the revo to control the algorithm and what is updated</description>
<field name="FusionAlgorithm" units="" type="enum" elements="1" options="None,Complementary,Complementary+Mag,INS13Indoor,INS13Outdoor,INS16Indoor,INS16Outdoor" defaultvalue="Complementary"/>
<field name="FusionAlgorithm" units="" type="enum" elements="1" options="None,Complementary,Complementary+Mag,INS13Indoor,INS13Outdoor" defaultvalue="Complementary"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>