fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'ekf_acc_comp' into vector_control2

Browse Source
This commit is contained in:
Anton Babushkin 2013-12-27 14:42:30 +04:00
commit fc0ffbbd63
2 changed files with 11 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
View File

@ -276,6 +276,9 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
float gyro_offsets[3] = { 0.0f, 0.0f, 0.0f };
unsigned offset_count = 0;
/* actual acceleration (by GPS velocity) in body frame */
float acc[3] = { 0.0f, 0.0f, 0.0f };
/* rotation matrix for magnetic declination */
math::Matrix<3, 3> R_decl;
R_decl.identity();
@ -371,7 +374,6 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
sensor_last_timestamp[1] = raw.timestamp;
}
float acc[3];
if (gps.fix_type >= 3 && gps.eph_m < 10.0f && gps.vel_ned_valid && hrt_absolute_time() < gps.timestamp_velocity + 500000) {
if (last_gps != 0 && gps.timestamp_velocity != last_gps) {
float gps_dt = (gps.timestamp_velocity - last_gps) / 1000000.0f;
@ -388,20 +390,18 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
acc[i] += att.R[j][i] * acc_NED[j];
}
}
vel_prev[0] = gps.vel_n_m_s;
vel_prev[1] = gps.vel_e_m_s;
vel_prev[2] = gps.vel_d_m_s;
}
last_gps = gps.timestamp_velocity;
} else {
acc[0] = 0.0f;
acc[1] = 0.0f;
acc[2] = 0.0f;
}
if (gps.vel_ned_valid) {
vel_prev[0] = gps.vel_n_m_s;
vel_prev[1] = gps.vel_e_m_s;
vel_prev[2] = gps.vel_d_m_s;
last_gps = gps.timestamp_velocity;
} else {
vel_prev[0] = 0.0f;
vel_prev[1] = 0.0f;
vel_prev[2] = 0.0f;
@ -481,7 +481,7 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
continue;
}
if (last_data > 0 && raw.timestamp - last_data > 12000)
if (last_data > 0 && raw.timestamp - last_data > 30000)
printf("[attitude estimator ekf] sensor data missed! (%llu)\n", raw.timestamp - last_data);
last_data = raw.timestamp;

2
src/modules/mavlink/mavlink_receiver.cpp
View File

@ -579,6 +579,7 @@ handle_message(mavlink_message_t *msg)
hil_gps.alt = gps.alt;
hil_gps.eph_m = (float)gps.eph * 1e-2f; // from cm to m
hil_gps.epv_m = (float)gps.epv * 1e-2f; // from cm to m
hil_gps.timestamp_variance = gps.time_usec;
hil_gps.s_variance_m_s = 5.0f;
hil_gps.p_variance_m = hil_gps.eph_m * hil_gps.eph_m;
hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s
@ -590,6 +591,7 @@ handle_message(mavlink_message_t *msg)
if (heading_rad > M_PI_F)
heading_rad -= 2.0f * M_PI_F;
hil_gps.timestamp_velocity = gps.time_usec;
hil_gps.vel_n_m_s = gps.vn * 1e-2f; // from cm to m
hil_gps.vel_e_m_s = gps.ve * 1e-2f; // from cm to m
hil_gps.vel_d_m_s = gps.vd * 1e-2f; // from cm to m