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attitude_estimator_ekf: acc comp bug fixed, estimated gravity vector logging

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Anton Babushkin
2014-01-20 23:44:04 +01:00
parent 7956c8b08e
commit 2e472cf918
5 changed files with 37 additions and 22 deletions
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src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+5 -1
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@@ -410,7 +410,7 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
vel(2) = gps.vel_d_m_s;
}
} else if (ekf_params.acc_comp == 2 && global_pos_updated && global_pos.valid && hrt_absolute_time() < global_pos.timestamp + 500000) {
} else if (ekf_params.acc_comp == 2 && global_pos.valid && hrt_absolute_time() < global_pos.timestamp + 500000) {
vel_valid = true;
if (global_pos_updated) {
vel_t = global_pos.timestamp;
@@ -532,6 +532,10 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
att.pitchacc = x_aposteriori[4];
att.yawacc = x_aposteriori[5];
att.g_comp[0] = raw.accelerometer_m_s2[0] - acc(0);
att.g_comp[1] = raw.accelerometer_m_s2[1] - acc(1);
att.g_comp[2] = raw.accelerometer_m_s2[2] - acc(2);
/* copy offsets */
memcpy(&att.rate_offsets, &(x_aposteriori[3]), sizeof(att.rate_offsets));