mirror of https://github.com/ArduPilot/ardupilot
38 lines
920 B
C++
38 lines
920 B
C++
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#include <AP_HAL/AP_HAL.h>
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#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
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#include "AP_NavEKF3.h"
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#include "AP_NavEKF3_core.h"
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_Vehicle/AP_Vehicle.h>
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#include <stdio.h>
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extern const AP_HAL::HAL& hal;
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// reset the body axis gyro bias states to zero and re-initialise the corresponding covariances
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// Assume that the calibration is performed to an accuracy of 0.5 deg/sec which will require averaging under static conditions
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// WARNING - a non-blocking calibration method must be used
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void NavEKF3_core::resetGyroBias(void)
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{
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stateStruct.gyro_bias.zero();
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zeroRows(P,10,12);
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zeroCols(P,10,12);
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P[10][10] = sq(radians(0.5f * dtIMUavg));
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P[11][11] = P[10][10];
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P[12][12] = P[10][10];
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}
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/*
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vehicle specific initial gyro bias uncertainty in deg/sec
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*/
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float NavEKF3_core::InitialGyroBiasUncertainty(void) const
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{
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return 2.5f;
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}
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#endif // HAL_CPU_CLASS
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