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PX4Accelerometer/PX4Gyroscope: integrated data avoid loss of numerical precision

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Daniel Agar 2020-04-23 15:07:56 -04:00 committed by Lorenz Meier
parent 70329ce396
commit 37d5d1b4d2
4 changed files with 16 additions and 22 deletions
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18
src/lib/drivers/accelerometer/PX4Accelerometer.cpp
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@ -70,8 +70,7 @@ PX4Accelerometer::PX4Accelerometer(uint32_t device_id, uint8_t priority, enum Ro
_sensor_integrated_pub{ORB_ID(sensor_accel_integrated), priority},
_sensor_status_pub{ORB_ID(sensor_accel_status), priority},
_device_id{device_id},
_rotation{rotation},
_rotation_dcm{get_rot_matrix(rotation)}
_rotation{rotation}
{
_class_device_instance = register_class_devname(ACCEL_BASE_DEVICE_PATH);
}
@ -266,16 +265,14 @@ void PX4Accelerometer::updateFIFO(const FIFOSample &sample)
if (_integrator_fifo_samples > 0 && (_integrator_samples >= _integrator_reset_samples)) {
// Apply rotation and scale
// integrated in microseconds, convert to seconds
const Vector3f delta_velocity_uncalibrated{_rotation_dcm *_integration_raw * _scale};
// Apply rotation (before scaling)
rotate_3f(_rotation, _integration_raw(0), _integration_raw(1), _integration_raw(2));
// scale calibration offset to number of samples
const Vector3f offset{_calibration_offset * _integrator_fifo_samples};
// integrated in microseconds, convert to seconds
const Vector3f delta_velocity_uncalibrated{_integration_raw * 1e-6f * dt * _scale};
// Apply calibration and scale to seconds
Vector3f delta_velocity{((delta_velocity_uncalibrated - offset).emult(_calibration_scale))};
delta_velocity *= 1e-6f * dt;
const Vector3f delta_velocity{(delta_velocity_uncalibrated - _calibration_offset).emult(_calibration_scale)};
// fill sensor_accel_integrated and publish
sensor_accel_integrated_s report;
@ -287,7 +284,8 @@ void PX4Accelerometer::updateFIFO(const FIFOSample &sample)
report.dt = _integrator_fifo_samples * dt; // time span in microseconds
report.samples = _integrator_fifo_samples;
const Vector3f clipping{_rotation_dcm * _integrator_clipping};
rotate_3f(_rotation, _integrator_clipping(0), _integrator_clipping(1), _integrator_clipping(2));
const Vector3f clipping{_integrator_clipping};
for (int i = 0; i < 3; i++) {
report.clip_counter[i] = fabsf(roundf(clipping(i)));

1
src/lib/drivers/accelerometer/PX4Accelerometer.hpp
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@ -110,7 +110,6 @@ private:
uint32_t _device_id{0};
const enum Rotation _rotation;
const matrix::Dcmf _rotation_dcm;
float _range{16 * CONSTANTS_ONE_G};
float _scale{1.f};

18
src/lib/drivers/gyroscope/PX4Gyroscope.cpp
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@ -71,8 +71,7 @@ PX4Gyroscope::PX4Gyroscope(uint32_t device_id, uint8_t priority, enum Rotation r
_sensor_integrated_pub{ORB_ID(sensor_gyro_integrated), priority},
_sensor_status_pub{ORB_ID(sensor_gyro_status), priority},
_device_id{device_id},
_rotation{rotation},
_rotation_dcm{get_rot_matrix(rotation)}
_rotation{rotation}
{
_class_device_instance = register_class_devname(GYRO_BASE_DEVICE_PATH);
@ -268,16 +267,14 @@ void PX4Gyroscope::updateFIFO(const FIFOSample &sample)
if (_integrator_fifo_samples > 0 && (_integrator_samples >= _integrator_reset_samples)) {
// Apply rotation and scale
// integrated in microseconds, convert to seconds
const Vector3f delta_angle_uncalibrated{_rotation_dcm *_integration_raw * _scale};
// Apply rotation (before scaling)
rotate_3f(_rotation, _integration_raw(0), _integration_raw(1), _integration_raw(2));
// scale calibration offset to number of samples
const Vector3f offset{_calibration_offset * _integrator_fifo_samples};
// integrated in microseconds, convert to seconds
const Vector3f delta_angle_uncalibrated{_integration_raw * 1e-6f * dt * _scale};
// Apply calibration and scale to seconds
Vector3f delta_angle{delta_angle_uncalibrated - offset};
delta_angle *= 1e-6f * dt;
const Vector3f delta_angle{delta_angle_uncalibrated - _calibration_offset};
// fill sensor_gyro_integrated and publish
sensor_gyro_integrated_s report;
@ -289,7 +286,8 @@ void PX4Gyroscope::updateFIFO(const FIFOSample &sample)
report.dt = _integrator_fifo_samples * dt; // time span in microseconds
report.samples = _integrator_fifo_samples;
const Vector3f clipping{_rotation_dcm * _integrator_clipping};
rotate_3f(_rotation, _integrator_clipping(0), _integrator_clipping(1), _integrator_clipping(2));
const Vector3f clipping{_integrator_clipping};
for (int i = 0; i < 3; i++) {
report.clip_counter[i] = fabsf(roundf(clipping(i)));

1
src/lib/drivers/gyroscope/PX4Gyroscope.hpp
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@ -112,7 +112,6 @@ private:
uint32_t _device_id{0};
const enum Rotation _rotation;
const matrix::Dcmf _rotation_dcm;
float _range{math::radians(2000.f)};
float _scale{1.f};