mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-14 16:13:35 +08:00
Jacob Dahl
ab59b0bcb8
Add propwash-induced barometer error compensation. Propellers create static pressure changes at the baro sensor proportional to motor output. Correction: baro_alt += SENS_BARO_PCOEF * mean_motor_output. Thrust compensation in VehicleAirData uses a motor ring buffer (8 samples) with time-matched lookup against baro timestamp_sample. BMP388 timestamp_sample corrected from read time to integration midpoint (- measurement_time/2), eliminating 38ms baro-thrust lag. Online estimator module (baro_thrust_estimator) uses a complementary filter to isolate thrust-correlated baro error at 0.05Hz crossover, and recursive least squares to identify gain K online. Saves to SENS_BARO_PCOEF on disarm. Controlled by SENS_BAR_AUTOCAL bit 1. SENS_BAR_AUTOCAL migrated from boolean to bitmask (bit 0: GNSS cal, bit 1: thrust comp). Includes offline calibration/validation tool (Tools/baro_compensation/baro_thrust_calibration.py).
57 lines
919 B
Bash
57 lines
919 B
Bash
#!/bin/sh
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#
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# Standard apps for multirotors. Attitude/Position estimator, Attitude/Position control.
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#
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# NOTE: Script variables are declared/initialized/unset in the rcS script.
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#
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#
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# Start Control Allocator
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#
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control_allocator start
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#
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# Start Multicopter Rate Controller.
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#
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mc_rate_control start
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#
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# Start Multicopter Attitude Controller.
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#
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mc_att_control start
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if param greater -s MC_AT_EN 0
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then
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mc_autotune_attitude_control start
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fi
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#
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# Start Multicopter Position Controller.
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#
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mc_hover_thrust_estimator start
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# Bit 1 of SENS_BAR_AUTOCAL enables online thrust compensation (value > 1)
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if param greater -s SENS_BAR_AUTOCAL 1
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then
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baro_thrust_estimator start
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fi
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flight_mode_manager start
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mc_pos_control start
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#
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# Start Multicopter Land Detector.
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#
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land_detector start multicopter
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if param compare -s MC_NN_EN 1
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then
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mc_nn_control start
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fi
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if param compare -s MC_RAPTOR_ENABLE 1
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then
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mc_raptor start
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fi
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