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Renamed FW filter to EKF to express its generic properties, switched multicopters over to this filter for first tests.

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This commit is contained in:
Lorenz Meier 2014-04-19 16:13:13 +02:00
parent edd16afead
commit 7b61c927f0
9 changed files with 9 additions and 8 deletions
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2
ROMFS/px4fmu_common/init.d/rc.fw_apps
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@ -6,7 +6,7 @@
#
# Start the attitude and position estimator
#
fw_att_pos_estimator start
ekf_att_pos_estimator start
#
# Start attitude controller

3
ROMFS/px4fmu_common/init.d/rc.mc_apps
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@ -5,7 +5,8 @@
#
attitude_estimator_ekf start
position_estimator_inav start
ekf_att_pos_estimator start
#position_estimator_inav start
mc_att_control start
mc_pos_control start

2
makefiles/config_px4fmu-v1_default.mk
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@ -70,7 +70,7 @@ MODULES += modules/gpio_led
# Estimation modules (EKF/ SO3 / other filters)
#
MODULES += modules/attitude_estimator_ekf
MODULES += modules/fw_att_pos_estimator
MODULES += modules/ekf_att_pos_estimator
MODULES += modules/position_estimator_inav
#MODULES += examples/flow_position_estimator

2
makefiles/config_px4fmu-v2_default.mk
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@ -79,7 +79,7 @@ MODULES += modules/gpio_led
#
MODULES += modules/attitude_estimator_ekf
MODULES += modules/attitude_estimator_so3
MODULES += modules/fw_att_pos_estimator
MODULES += modules/ekf_att_pos_estimator
MODULES += modules/position_estimator_inav
MODULES += examples/flow_position_estimator

0
src/modules/fw_att_pos_estimator/estimator.cpp → src/modules/ekf_att_pos_estimator/estimator.cpp
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0
src/modules/fw_att_pos_estimator/estimator.h → src/modules/ekf_att_pos_estimator/estimator.h
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6
src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp → src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp
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@ -90,7 +90,7 @@
*
* @ingroup apps
*/
extern "C" __EXPORT int fw_att_pos_estimator_main(int argc, char *argv[]);
extern "C" __EXPORT int ekf_att_pos_estimator_main(int argc, char *argv[]);
__EXPORT uint32_t millis();
@ -1255,10 +1255,10 @@ int FixedwingEstimator::trip_nan() {
return ret;
}
int fw_att_pos_estimator_main(int argc, char *argv[])
int ekf_att_pos_estimator_main(int argc, char *argv[])
{
if (argc < 1)
errx(1, "usage: fw_att_pos_estimator {start|stop|status}");
errx(1, "usage: ekf_att_pos_estimator {start|stop|status}");
if (!strcmp(argv[1], "start")) {

0
src/modules/fw_att_pos_estimator/fw_att_pos_estimator_params.c → src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_params.c
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2
src/modules/fw_att_pos_estimator/module.mk → src/modules/ekf_att_pos_estimator/module.mk
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@ -35,7 +35,7 @@
# Main Attitude and Position Estimator for Fixed Wing Aircraft
#
MODULE_COMMAND = fw_att_pos_estimator
MODULE_COMMAND = ekf_att_pos_estimator
SRCS = fw_att_pos_estimator_main.cpp \
fw_att_pos_estimator_params.c \