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attitude_estimator_q: set mag weight to 0 if SYS_HAS_MAG is not set

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Beat Küng
2018-05-20 11:54:17 +02:00
committed by Lorenz Meier
parent f2516bbf5f
commit d99b72ea41
1 changed files with 11 additions and 0 deletions
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src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
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@@ -123,6 +123,7 @@ private:
param_t acc_comp; param_t acc_comp;
param_t bias_max; param_t bias_max;
param_t ext_hdg_mode; param_t ext_hdg_mode;
param_t has_mag;
} _params_handles{}; /**< handles for interesting parameters */ } _params_handles{}; /**< handles for interesting parameters */
float _w_accel = 0.0f; float _w_accel = 0.0f;
@@ -179,6 +180,7 @@ AttitudeEstimatorQ::AttitudeEstimatorQ()
_params_handles.acc_comp = param_find("ATT_ACC_COMP"); _params_handles.acc_comp = param_find("ATT_ACC_COMP");
_params_handles.bias_max = param_find("ATT_BIAS_MAX"); _params_handles.bias_max = param_find("ATT_BIAS_MAX");
_params_handles.ext_hdg_mode = param_find("ATT_EXT_HDG_M"); _params_handles.ext_hdg_mode = param_find("ATT_EXT_HDG_M");
_params_handles.has_mag = param_find("SYS_HAS_MAG");
_vel_prev.zero(); _vel_prev.zero();
_pos_acc.zero(); _pos_acc.zero();
@@ -471,6 +473,15 @@ void AttitudeEstimatorQ::update_parameters(bool force)
param_get(_params_handles.w_acc, &_w_accel); param_get(_params_handles.w_acc, &_w_accel);
param_get(_params_handles.w_mag, &_w_mag); param_get(_params_handles.w_mag, &_w_mag);
// disable mag fusion if the system does not have a mag
if (_params_handles.has_mag != PARAM_INVALID) {
int32_t has_mag;
if (param_get(_params_handles.has_mag, &has_mag) == 0 && has_mag == 0) {
_w_mag = 0.f;
}
}
if (_w_mag < FLT_EPSILON) { // if the weight is zero (=mag disabled), make sure the estimator initializes if (_w_mag < FLT_EPSILON) { // if the weight is zero (=mag disabled), make sure the estimator initializes
_mag(0) = 1.f; _mag(0) = 1.f;
_mag(1) = 0.f; _mag(1) = 0.f;