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Merge pull request #171 from PX4/fault_detection

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Attitude / position estimation and controller improvements
This commit is contained in:
px4dev
2013-01-19 13:17:28 -08:00
parent 7eb7836d2d effc3001f4
commit c1a1207b9a
7 changed files with 375 additions and 252 deletions
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apps/mavlink/mavlink_receiver.c
+12 -7
View File
@@ -318,9 +318,11 @@ handle_message(mavlink_message_t *msg)
static uint16_t hil_frames = 0;
static uint64_t old_timestamp = 0;
/* sensors general */
hil_sensors.timestamp = imu.time_usec;
/* hil gyro */
static const float mrad2rad = 1.0e-3f;
hil_sensors.timestamp = timestamp;
hil_sensors.gyro_counter = hil_counter;
hil_sensors.gyro_raw[0] = imu.xgyro;
hil_sensors.gyro_raw[1] = imu.ygyro;
@@ -367,8 +369,8 @@ handle_message(mavlink_message_t *msg)
hil_frames += 1 ;
// output
if ((timestamp - old_timestamp) > 1000000) {
printf("receiving hil imu at %d hz\n", hil_frames);
if ((timestamp - old_timestamp) > 10000000) {
printf("receiving hil imu at %d hz\n", hil_frames/10);
old_timestamp = timestamp;
hil_frames = 0;
}
@@ -412,8 +414,8 @@ handle_message(mavlink_message_t *msg)
hil_frames += 1 ;
// output
if ((timestamp - old_timestamp) > 1000000) {
printf("receiving hil gps at %d hz\n", hil_frames);
if ((timestamp - old_timestamp) > 10000000) {
printf("receiving hil gps at %d hz\n", hil_frames/10);
old_timestamp = timestamp;
hil_frames = 0;
}
@@ -429,6 +431,9 @@ handle_message(mavlink_message_t *msg)
static uint16_t hil_frames = 0;
static uint64_t old_timestamp = 0;
/* sensors general */
hil_sensors.timestamp = press.time_usec;
/* baro */
/* TODO, set ground_press/ temp during calib */
static const float ground_press = 1013.25f; // mbar
@@ -454,8 +459,8 @@ handle_message(mavlink_message_t *msg)
hil_frames += 1 ;
// output
if ((timestamp - old_timestamp) > 1000000) {
printf("receiving hil pressure at %d hz\n", hil_frames);
if ((timestamp - old_timestamp) > 10000000) {
printf("receiving hil pressure at %d hz\n", hil_frames/10);
old_timestamp = timestamp;
hil_frames = 0;
}
apps/mavlink/orb_listener.c
+1 -1
View File
@@ -718,7 +718,7 @@ uorb_receive_start(void)
/* --- GLOBAL POS VALUE --- */
mavlink_subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
orb_set_interval(mavlink_subs.global_pos_sub, 1000); /* 1Hz active updates */
orb_set_interval(mavlink_subs.global_pos_sub, 100); /* 10 Hz active updates */
/* --- LOCAL POS VALUE --- */
mavlink_subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));