fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-28 04:33:34 +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
parent 6a04d13e73 464df9c5e8
commit fc0ffbbd63
2 changed files with 11 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+9 -9
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;