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Code Issues Releases Activity

LP-353 - Allow INS For nav and CF for attitude

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This commit is contained in:
Alessio Morale 2016-07-07 23:34:36 +02:00
parent 5d8f4b6cde
commit ff5bd26e1a
2 changed files with 27 additions and 1 deletions
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26
flight/modules/StateEstimation/stateestimation.c
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@ -251,6 +251,29 @@ static const filterPipeline *ekf13Queue = &(filterPipeline) {
}
};
static const filterPipeline *ekf13NavCFAttQueue = &(filterPipeline) {
.filter = &magFilter,
.next = &(filterPipeline) {
.filter = &airFilter,
.next = &(filterPipeline) {
.filter = &llaFilter,
.next = &(filterPipeline) {
.filter = &baroFilter,
.next = &(filterPipeline) {
.filter = &ekf13Filter,
.next = &(filterPipeline) {
.filter = &velocityFilter,
.next = &(filterPipeline) {
.filter = &cfmFilter,
.next = NULL,
}
}
}
}
}
}
};
// Private functions
static void settingsUpdatedCb(UAVObjEvent *objEv);
@ -398,6 +421,9 @@ static void StateEstimationCb(void)
case REVOSETTINGS_FUSIONALGORITHM_GPSNAVIGATIONINS13:
newFilterChain = ekf13Queue;
break;
case REVOSETTINGS_FUSIONALGORITHM_GPSNAVIGATIONINS13CF:
newFilterChain = ekf13NavCFAttQueue;
break;
default:
newFilterChain = NULL;
}

2
shared/uavobjectdefinition/revosettings.xml
View File

@ -2,7 +2,7 @@
<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,Basic (Complementary),Complementary+Mag,Complementary+Mag+GPSOutdoor,INS13Indoor,GPS Navigation (INS13)"
options="None,Basic (Complementary),Complementary+Mag,Complementary+Mag+GPSOutdoor,INS13Indoor,GPS Navigation (INS13),GPS Navigation (INS13+CF)"
defaultvalue="Basic (Complementary)"/>
<!-- Low pass filter configuration to calculate offset of barometric altitude sensor.