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att ekf: add param to enable/disable J

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This commit is contained in:
Thomas Gubler
2014-07-25 15:23:26 +02:00
parent 4b0230042f
commit 63fa17ef0d
3 changed files with 18 additions and 5 deletions
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src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+1 -1
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@@ -512,7 +512,7 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
/* Call the estimator */ /* Call the estimator */
AttitudeEKF(false, // approx_prediction AttitudeEKF(false, // approx_prediction
false, // use_inertia_matrix (unsigned char)ekf_params.use_moment_inertia,
update_vect, update_vect,
dt, dt,
z_k, z_k,
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
+15 -4
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@@ -79,7 +79,6 @@ PARAM_DEFINE_FLOAT(ATT_J11, 0.0018);
*/ */
PARAM_DEFINE_FLOAT(ATT_J22, 0.0018); PARAM_DEFINE_FLOAT(ATT_J22, 0.0018);
/* /*
* Moment of inertia matrix diagonal entry (3, 3) * Moment of inertia matrix diagonal entry (3, 3)
* *
@@ -88,6 +87,16 @@ PARAM_DEFINE_FLOAT(ATT_J22, 0.0018);
*/ */
PARAM_DEFINE_FLOAT(ATT_J33, 0.0037); PARAM_DEFINE_FLOAT(ATT_J33, 0.0037);
/*
* Moment of inertia enabled in estimator
*
* If set to != 0 the moment of inertia will be used in the estimator
*
* @group attitude_ekf
* @min 0
* @max 1
*/
PARAM_DEFINE_INT32(ATT_J_EN, 0);
int parameters_init(struct attitude_estimator_ekf_param_handles *h) int parameters_init(struct attitude_estimator_ekf_param_handles *h)
{ {
@@ -105,9 +114,10 @@ int parameters_init(struct attitude_estimator_ekf_param_handles *h)
h->acc_comp = param_find("ATT_ACC_COMP"); h->acc_comp = param_find("ATT_ACC_COMP");
h->moment_inertia_J[0] = param_find("ATT_J11"); h->moment_inertia_J[0] = param_find("ATT_J11");
h->moment_inertia_J[1] = param_find("ATT_J22"); h->moment_inertia_J[1] = param_find("ATT_J22");
h->moment_inertia_J[2] = param_find("ATT_J33"); h->moment_inertia_J[2] = param_find("ATT_J33");
h->use_moment_inertia = param_find("ATT_J_EN");
return OK; return OK;
} }
@@ -131,6 +141,7 @@ int parameters_update(const struct attitude_estimator_ekf_param_handles *h, stru
for (int i = 0; i < 3; i++) { for (int i = 0; i < 3; i++) {
param_get(h->moment_inertia_J[i], &(p->moment_inertia_J[3 * i + i])); param_get(h->moment_inertia_J[i], &(p->moment_inertia_J[3 * i + i]));
} }
param_get(h->use_moment_inertia, &(p->use_moment_inertia));
return OK; return OK;
} }
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h
+2
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@@ -45,6 +45,7 @@ struct attitude_estimator_ekf_params {
float r[3]; float r[3];
float q[4]; float q[4];
float moment_inertia_J[9]; float moment_inertia_J[9];
int32_t use_moment_inertia;
float roll_off; float roll_off;
float pitch_off; float pitch_off;
float yaw_off; float yaw_off;
@@ -56,6 +57,7 @@ struct attitude_estimator_ekf_param_handles {
param_t r0, r1, r2; param_t r0, r1, r2;
param_t q0, q1, q2, q3; param_t q0, q1, q2, q3;
param_t moment_inertia_J[3]; /**< diagonal entries of the matrix */ param_t moment_inertia_J[3]; /**< diagonal entries of the matrix */
param_t use_moment_inertia;
param_t mag_decl; param_t mag_decl;
param_t acc_comp; param_t acc_comp;
}; };