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Code Issues Releases Activity

Reverted GYRO calibration detection.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2791 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
pip 2011-02-14 09:01:47 +00:00 committed by pip
parent c6e228e768
commit f75539dcc6
1 changed files with 33 additions and 49 deletions
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64
flight/AHRS/ahrs.c
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@ -53,6 +53,15 @@
#define GYRO_OOB(x) ((x > (1000 * DEG_TO_RAD)) || (x < (-1000 * DEG_TO_RAD))) #define GYRO_OOB(x) ((x > (1000 * DEG_TO_RAD)) || (x < (-1000 * DEG_TO_RAD)))
#define ACCEL_OOB(x) (((x > 12*9.81) || (x < -12*9.81))) #define ACCEL_OOB(x) (((x > 12*9.81) || (x < -12*9.81)))
// down-sampled data index
#define ACCEL_RAW_X_IDX 2
#define ACCEL_RAW_Y_IDX 0
#define ACCEL_RAW_Z_IDX 4
#define GYRO_RAW_X_IDX 1
#define GYRO_RAW_Y_IDX 3
#define GYRO_RAW_Z_IDX 5
#define GYRO_TEMP_RAW_XY_IDX 6
#define GYRO_TEMP_RAW_Z_IDX 7
#define MAG_RAW_X_IDX 1 #define MAG_RAW_X_IDX 1
#define MAG_RAW_Y_IDX 0 #define MAG_RAW_Y_IDX 0
#define MAG_RAW_Z_IDX 2 #define MAG_RAW_Z_IDX 2
@ -492,13 +501,13 @@ void print_ahrs_raw()
// copy the raw samples into their own buffers // copy the raw samples into their own buffers
for (uint16_t i = 0, j = 0; i < over_sampling; i++, j += PIOS_ADC_NUM_CHANNELS) for (uint16_t i = 0, j = 0; i < over_sampling; i++, j += PIOS_ADC_NUM_CHANNELS)
{ {
accel_x[i] = valid_data_buffer[j + 0]; accel_x[i] = valid_data_buffer[ACCEL_RAW_X_IDX + j];
accel_y[i] = valid_data_buffer[j + 2]; accel_y[i] = valid_data_buffer[ACCEL_RAW_Y_IDX + j];
accel_z[i] = valid_data_buffer[j + 4]; accel_z[i] = valid_data_buffer[ACCEL_RAW_Z_IDX + j];
gyro_x[i] = valid_data_buffer[j + 3]; gyro_x[i] = valid_data_buffer[GYRO_RAW_X_IDX + j];
gyro_y[i] = valid_data_buffer[j + 1]; gyro_y[i] = valid_data_buffer[GYRO_RAW_Y_IDX + j];
gyro_z[i] = valid_data_buffer[j + 5]; gyro_z[i] = valid_data_buffer[GYRO_RAW_Z_IDX + j];
} }
#if defined(PIOS_INCLUDE_HMC5843) && defined(PIOS_INCLUDE_I2C) #if defined(PIOS_INCLUDE_HMC5843) && defined(PIOS_INCLUDE_I2C)
@ -691,31 +700,17 @@ void adc_callback(float * downsampled_data)
AHRSSettingsData settings; AHRSSettingsData settings;
AHRSSettingsGet(&settings); AHRSSettingsGet(&settings);
bool gyro_calib = // TRUE if we calibrating the gyro's (biases = 0 and scales = 1)
abs(gyro_data.calibration.bias[0]) < 0.0001f && abs(gyro_data.calibration.scale[0] - 1) < 0.0001f &&
abs(gyro_data.calibration.bias[1]) < 0.0001f && abs(gyro_data.calibration.scale[1] - 1) < 0.0001f &&
abs(gyro_data.calibration.bias[2]) < 0.0001f && abs(gyro_data.calibration.scale[2] - 1) < 0.0001f;
float accel[3], gyro[3]; float accel[3], gyro[3];
// Accel data is (y,x,z) in first third and fifth byte. Convert to m/s // Accel data is (y,x,z) in first third and fifth byte. Convert to m/s
accel[0] = (downsampled_data[2] * accel_data.calibration.scale[0]) + accel_data.calibration.bias[0]; accel[0] = (downsampled_data[ACCEL_RAW_X_IDX] * accel_data.calibration.scale[0]) + accel_data.calibration.bias[0];
accel[1] = (downsampled_data[0] * accel_data.calibration.scale[1]) + accel_data.calibration.bias[1]; accel[1] = (downsampled_data[ACCEL_RAW_Y_IDX] * accel_data.calibration.scale[1]) + accel_data.calibration.bias[1];
accel[2] = (downsampled_data[4] * accel_data.calibration.scale[2]) + accel_data.calibration.bias[2]; accel[2] = (downsampled_data[ACCEL_RAW_Z_IDX] * accel_data.calibration.scale[2]) + accel_data.calibration.bias[2];
// Gyro data is (x,y,z) in second, fifth and seventh byte. Convert to rad/s // Gyro data is (x,y,z) in second, fifth and seventh byte. Convert to rad/s
if (!gyro_calib) gyro[0] = ( ( downsampled_data[GYRO_RAW_X_IDX] + gyro_data.calibration.tempcompfactor[0] * downsampled_data[GYRO_TEMP_RAW_XY_IDX] ) * gyro_data.calibration.scale[0]) + gyro_data.calibration.bias[0];
{ // not calibrating gyro's gyro[1] = ( ( downsampled_data[GYRO_RAW_Y_IDX] + gyro_data.calibration.tempcompfactor[1] * downsampled_data[GYRO_TEMP_RAW_XY_IDX] ) * gyro_data.calibration.scale[1]) + gyro_data.calibration.bias[1];
gyro[0] = ( ( downsampled_data[1] + gyro_data.calibration.tempcompfactor[0] * downsampled_data[6] ) * gyro_data.calibration.scale[0]) + gyro_data.calibration.bias[0]; gyro[2] = ( ( downsampled_data[GYRO_RAW_Z_IDX] + gyro_data.calibration.tempcompfactor[2] * downsampled_data[GYRO_TEMP_RAW_Z_IDX] ) * gyro_data.calibration.scale[2]) + gyro_data.calibration.bias[2];
gyro[1] = ( ( downsampled_data[3] + gyro_data.calibration.tempcompfactor[1] * downsampled_data[6] ) * gyro_data.calibration.scale[1]) + gyro_data.calibration.bias[1];
gyro[2] = ( ( downsampled_data[5] + gyro_data.calibration.tempcompfactor[2] * downsampled_data[7] ) * gyro_data.calibration.scale[2]) + gyro_data.calibration.bias[2];
}
else
{ // calibrating gyro's .. feed the raw values straight thru
gyro[0] = downsampled_data[1];
gyro[1] = downsampled_data[3];
gyro[2] = downsampled_data[5];
}
#if 0 #if 0
static float gravity_tracking[3] = {0,0,0}; static float gravity_tracking[3] = {0,0,0};
@ -747,21 +742,12 @@ void adc_callback(float * downsampled_data)
AttitudeRawData raw; AttitudeRawData raw;
raw.gyrotemp[0] = downsampled_data[6]; raw.gyrotemp[0] = downsampled_data[GYRO_TEMP_RAW_XY_IDX];
raw.gyrotemp[1] = downsampled_data[7]; raw.gyrotemp[1] = downsampled_data[GYRO_TEMP_RAW_Z_IDX];
if (!gyro_calib)
{ // not calibrating gyro's
raw.gyros[0] = gyro[0] * RAD_TO_DEG; raw.gyros[0] = gyro[0] * RAD_TO_DEG;
raw.gyros[1] = gyro[1] * RAD_TO_DEG; raw.gyros[1] = gyro[1] * RAD_TO_DEG;
raw.gyros[2] = gyro[2] * RAD_TO_DEG; raw.gyros[2] = gyro[2] * RAD_TO_DEG;
}
else
{ // calibrating gyro's .. feed the raw values straight thru
raw.gyros[0] = gyro[0];
raw.gyros[1] = gyro[1];
raw.gyros[2] = gyro[2];
}
raw.accels[0] = accel[0]; raw.accels[0] = accel[0];
raw.accels[1] = accel[1]; raw.accels[1] = accel[1];
@ -773,12 +759,10 @@ void adc_callback(float * downsampled_data)
if (settings.BiasCorrectedRaw == AHRSSETTINGS_BIASCORRECTEDRAW_TRUE) if (settings.BiasCorrectedRaw == AHRSSETTINGS_BIASCORRECTEDRAW_TRUE)
{ {
if (!gyro_calib)
{ // not calibrating gyro's
raw.gyros[0] -= Nav.gyro_bias[0] * RAD_TO_DEG; raw.gyros[0] -= Nav.gyro_bias[0] * RAD_TO_DEG;
raw.gyros[1] -= Nav.gyro_bias[1] * RAD_TO_DEG; raw.gyros[1] -= Nav.gyro_bias[1] * RAD_TO_DEG;
raw.gyros[2] -= Nav.gyro_bias[2] * RAD_TO_DEG; raw.gyros[2] -= Nav.gyro_bias[2] * RAD_TO_DEG;
}
raw.accels[0] -= Nav.accel_bias[0]; raw.accels[0] -= Nav.accel_bias[0];
raw.accels[1] -= Nav.accel_bias[1]; raw.accels[1] -= Nav.accel_bias[1];
raw.accels[2] -= Nav.accel_bias[2]; raw.accels[2] -= Nav.accel_bias[2];