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Checkpoint - this is worth an AR.Drone flight test. Fixed thrust scaling in sensors for manual input, kind of fixed AR.Drone motor interface, very reliable now

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Lorenz Meier
2012-09-04 21:16:39 +02:00
parent 62682d805e
commit e503c15361
5 changed files with 115 additions and 71 deletions
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apps/px4/attitude_estimator_bm/attitude_bm.c
+9 -9
View File
@@ -147,18 +147,18 @@ void attitude_blackmagic_init(void)
// };
static m_elem kal_gain[12 * 9] = {
0.001f , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0,
0 , 0.001f , 0 , 0 , 0 , 0 , 0 , 0 , 0,
0 , 0 , 0.001f , 0 , 0 , 0 , 0 , 0 , 0,
0 , 0 , 0 , 0.015f, 0 , 0 , 0 , 0 , 0,
0 , 0 , 0 , 0 , 0.015f, 0 , 0 , 0 , 0,
0 , 0 , 0 , 0 , 0 , 0.015f, 0 , 0 , 0,
0.0007f , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0,
0 , 0.0007f , 0 , 0 , 0 , 0 , 0 , 0 , 0,
0 , 0 , 0.0007f , 0 , 0 , 0 , 0 , 0 , 0,
0 , 0 , 0 , 0.01f, 0 , 0 , 0 , 0 , 0,
0 , 0 , 0 , 0 , 0.01f, 0 , 0 , 0 , 0,
0 , 0 , 0 , 0 , 0 , 0.01f, 0 , 0 , 0,
0.0000f , +0.00002f, 0 , 0 , 0, 0, 0, 0 , 0,
-0.00002f, 0 , 0 , 0 , 0, 0, 0, 0, 0,
0, 0 , 0 , 0, 0, 0, 0, 0, 0,
0 , 0 , 0 , 0 , 0 , 0 , 0.6f , 0 , 0,
0 , 0 , 0 , 0 , 0 , 0 , 0 , 0.6f , 0,
0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0.6f
0 , 0 , 0 , 0 , 0 , 0 , 0.4f , 0 , 0,
0 , 0 , 0 , 0 , 0 , 0 , 0 , 0.4f , 0,
0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0.4f
};
//offset update only correct if not upside down.
apps/px4/attitude_estimator_bm/attitude_estimator_bm.c
+3 -3
View File
@@ -87,9 +87,9 @@ int attitude_estimator_bm_update(struct sensor_combined_s *raw, float_vect3 *eul
gyro_values.z = raw->gyro_rad_s[2];
float_vect3 accel_values;
accel_values.x = (raw->accelerometer_m_s2[0] / 9.81f) * 120;
accel_values.y = (raw->accelerometer_m_s2[1] / 9.81f) * 120;
accel_values.z = (raw->accelerometer_m_s2[2] / 9.81f) * 120;
accel_values.x = (raw->accelerometer_m_s2[0] / 9.81f) * 100;
accel_values.y = (raw->accelerometer_m_s2[1] / 9.81f) * 100;
accel_values.z = (raw->accelerometer_m_s2[2] / 9.81f) * 100;
float_vect3 mag_values;
mag_values.x = raw->magnetometer_ga[0]*1500.0f;