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mc_att_control: use legacy offset and scale definition (+2 squashed commits)

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Squashed commits:
[f81a8b0] mc_att_control: remove unnecessary initialisers
[f3d3f48] mc_att_control: accommodate changes to sensor_correction topic
This commit is contained in:
Paul Riseborough
2017-02-01 08:40:23 +01:00
committed by Lorenz Meier
parent 170bc91587
commit add298c0b5
1 changed files with 24 additions and 9 deletions
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src/modules/mc_att_control/mc_att_control_main.cpp
+24 -9
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@@ -536,15 +536,15 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
_ts_opt_recovery = new TailsitterRecovery();
}
/* initialize _corrections to identity as we might not immediately get a topic update */
/* initialize thermal corrections as we might not immediately get a topic update */
memset(&_sensor_correction, 0, sizeof(_sensor_correction));
for (unsigned i = 0; i < 3; i++) {
_sensor_correction.gyro_scale[i] = 1.0f;
_sensor_correction.accel_scale[i] = 1.0f;
// used scale factors to unity
_sensor_correction.gyro_scale_0[i] = 1.0f;
_sensor_correction.gyro_scale_1[i] = 1.0f;
_sensor_correction.gyro_scale_2[i] = 1.0f;
}
_sensor_correction.baro_scale = 1.0f;
}
MulticopterAttitudeControl::~MulticopterAttitudeControl()
@@ -994,9 +994,24 @@ MulticopterAttitudeControl::control_attitude_rates(float dt)
_board_rotation = board_rotation_offset * _board_rotation;
// get the raw gyro data and correct for thermal errors
math::Vector<3> rates(_sensor_gyro.x * _sensor_correction.gyro_scale[0] + _sensor_correction.gyro_offset[0],
_sensor_gyro.y * _sensor_correction.gyro_scale[1] + _sensor_correction.gyro_offset[1],
_sensor_gyro.z * _sensor_correction.gyro_scale[2] + _sensor_correction.gyro_offset[2]);
math::Vector<3> rates;
if (_selected_gyro == 0) {
rates(0) = (_sensor_gyro.x - _sensor_correction.gyro_offset_0[0]) * _sensor_correction.gyro_scale_0[0];
rates(1) = (_sensor_gyro.x - _sensor_correction.gyro_offset_0[1]) * _sensor_correction.gyro_scale_0[1];
rates(2) = (_sensor_gyro.x - _sensor_correction.gyro_offset_0[2]) * _sensor_correction.gyro_scale_0[2];
} else if (_selected_gyro == 1) {
rates(0) = (_sensor_gyro.x - _sensor_correction.gyro_offset_1[0]) * _sensor_correction.gyro_scale_1[0];
rates(1) = (_sensor_gyro.x - _sensor_correction.gyro_offset_1[1]) * _sensor_correction.gyro_scale_1[1];
rates(2) = (_sensor_gyro.x - _sensor_correction.gyro_offset_1[2]) * _sensor_correction.gyro_scale_1[2];
} else if (_selected_gyro == 2) {
rates(0) = (_sensor_gyro.x - _sensor_correction.gyro_offset_2[0]) * _sensor_correction.gyro_scale_2[0];
rates(1) = (_sensor_gyro.x - _sensor_correction.gyro_offset_2[1]) * _sensor_correction.gyro_scale_2[1];
rates(2) = (_sensor_gyro.x - _sensor_correction.gyro_offset_2[2]) * _sensor_correction.gyro_scale_2[2];
} else {
rates(0) = _sensor_gyro.x;
rates(1) = _sensor_gyro.y;
rates(2) = _sensor_gyro.z;
}
// rotate corrected measurements from sensor to body frame
rates = _board_rotation * rates;