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Added offset parameters for roll, pitch and yaw

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This commit is contained in:
Lorenz Meier 2013-01-09 16:52:15 +01:00
parent 8cc9fb9e2c
commit 4435befefd
3 changed files with 19 additions and 3 deletions
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6
apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
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@ -413,9 +413,9 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
/* send out */
att.timestamp = raw.timestamp;
att.roll = euler[0];
att.pitch = euler[1];
att.yaw = euler[2];
att.roll = euler[0] - ekf_params.roll_off;
att.pitch = euler[1] - ekf_params.pitch_off;
att.yaw = euler[2] - ekf_params.yaw_off;
att.rollspeed = x_aposteriori[0];
att.pitchspeed = x_aposteriori[1];

12
apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c
View File

@ -72,6 +72,10 @@ PARAM_DEFINE_FLOAT(EKF_ATT_R5, 1e2f);
PARAM_DEFINE_FLOAT(EKF_ATT_R6, 1e-1f);
PARAM_DEFINE_FLOAT(EKF_ATT_R7, 1e-1f);
PARAM_DEFINE_FLOAT(EKF_ATT_R8, 1e-1f);
/* offsets in roll, pitch and yaw of sensor plane and body */
PARAM_DEFINE_FLOAT(ATT_ROLL_OFFS, 0.0f);
PARAM_DEFINE_FLOAT(ATT_PITCH_OFFS, 0.0f);
PARAM_DEFINE_FLOAT(ATT_YAW_OFFS, 0.0f);
int parameters_init(struct attitude_estimator_ekf_param_handles *h)
{
@ -99,6 +103,10 @@ int parameters_init(struct attitude_estimator_ekf_param_handles *h)
h->r7 = param_find("EKF_ATT_R7");
h->r8 = param_find("EKF_ATT_R8");
h->roll_off = param_find("ATT_ROLL_OFFS");
h->pitch_off = param_find("ATT_PITCH_OFFS");
h->yaw_off = param_find("ATT_YAW_OFFS");
return OK;
}
@ -127,5 +135,9 @@ int parameters_update(const struct attitude_estimator_ekf_param_handles *h, stru
param_get(h->r7, &(p->r[7]));
param_get(h->r8, &(p->r[8]));
param_get(h->roll_off, &(p->roll_off));
param_get(h->pitch_off, &(p->pitch_off));
param_get(h->yaw_off, &(p->yaw_off));
return OK;
}

4
apps/attitude_estimator_ekf/attitude_estimator_ekf_params.h
View File

@ -44,11 +44,15 @@
struct attitude_estimator_ekf_params {
float r[9];
float q[12];
float roll_off;
float pitch_off;
float yaw_off;
};
struct attitude_estimator_ekf_param_handles {
param_t r0, r1, r2, r3, r4, r5, r6, r7, r8;
param_t q0, q1, q2, q3, q4, q5, q6, q7, q8, q9, q10, q11;
param_t roll_off, pitch_off, yaw_off;
};
/**