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Better attitude filter, not sensitive to sudden accelerations

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Lorenz Meier
2013-01-21 17:30:53 +01:00
parent 48e497e406
commit ac215185a9
32 changed files with 679 additions and 360 deletions
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apps/uORB/topics/vehicle_attitude.h
Regular → Executable
+16 -19
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@@ -57,29 +57,26 @@
*/
struct vehicle_attitude_s {
/*
* Actual data, this is specific to the type of data which is stored in this struct
* A line containing L0GME will be added by the Python logging code generator to the
* logged dataset.
*/
uint64_t timestamp; /**< in microseconds since system start */
uint64_t timestamp; /**< in microseconds since system start */
/* This is similar to the mavlink message ATTITUDE, but for onboard use */
/* @warning Roll, pitch and yaw have always to be valid, the rotation matrix and quaternion are optional */
/** @warning roll, pitch and yaw have always to be valid, the rotation matrix and quaternion are optional */
float roll; /**< Roll angle (rad, Tait-Bryan, NED) LOGME */
float pitch; /**< Pitch angle (rad, Tait-Bryan, NED) LOGME */
float yaw; /**< Yaw angle (rad, Tait-Bryan, NED) LOGME */
float rollspeed; /**< Roll angular speed (rad/s, Tait-Bryan, NED) LOGME */
float pitchspeed; /**< Pitch angular speed (rad/s, Tait-Bryan, NED) LOGME */
float yawspeed; /**< Yaw angular speed (rad/s, Tait-Bryan, NED) LOGME */
float rate_offsets[3];/**< Offsets of the body angular rates from zero */
float R[3][3]; /**< Rotation matrix body to world, (Tait-Bryan, NED) */
float q[4]; /**< Quaternion (NED) */
bool R_valid; /**< Rotation matrix valid */
bool q_valid; /**< Quaternion valid */
uint16_t counter; /**< Counter of all attitude messages (wraps) */
float roll; /**< Roll angle (rad, Tait-Bryan, NED) */
float pitch; /**< Pitch angle (rad, Tait-Bryan, NED) */
float yaw; /**< Yaw angle (rad, Tait-Bryan, NED) */
float rollspeed; /**< Roll angular speed (rad/s, Tait-Bryan, NED) */
float pitchspeed; /**< Pitch angular speed (rad/s, Tait-Bryan, NED) */
float yawspeed; /**< Yaw angular speed (rad/s, Tait-Bryan, NED) */
float rollacc; /**< Roll angular accelration (rad/s, Tait-Bryan, NED) */
float pitchacc; /**< Pitch angular acceleration (rad/s, Tait-Bryan, NED) */
float yawacc; /**< Yaw angular acceleration (rad/s, Tait-Bryan, NED) */
float rate_offsets[3]; /**< Offsets of the body angular rates from zero */
float R[3][3]; /**< Rotation matrix body to world, (Tait-Bryan, NED) */
float q[4]; /**< Quaternion (NED) */
bool R_valid; /**< Rotation matrix valid */
bool q_valid; /**< Quaternion valid */
};