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AP_NavEKF2: Get IMU accelerometer body position offset data

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priseborough 2016-10-12 08:30:01 +11:00 committed by Andrew Tridgell
parent 397033b7c3
commit 064a106808
2 changed files with 4 additions and 0 deletions
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2
libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
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@ -276,8 +276,10 @@ void NavEKF2_core::readIMUData()
// use the nominated imu or primary if not available // use the nominated imu or primary if not available
if (ins.use_accel(imu_index)) { if (ins.use_accel(imu_index)) {
readDeltaVelocity(imu_index, imuDataNew.delVel, imuDataNew.delVelDT); readDeltaVelocity(imu_index, imuDataNew.delVel, imuDataNew.delVelDT);
accelPosOffset = ins.get_imu_pos_offset(imu_index);
} else { } else {
readDeltaVelocity(ins.get_primary_accel(), imuDataNew.delVel, imuDataNew.delVelDT); readDeltaVelocity(ins.get_primary_accel(), imuDataNew.delVel, imuDataNew.delVelDT);
accelPosOffset = ins.get_imu_pos_offset(ins.get_primary_accel());
} }
// Get delta angle data from primary gyro or primary if not available // Get delta angle data from primary gyro or primary if not available

2
libraries/AP_NavEKF2/AP_NavEKF2_core.h
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@ -908,6 +908,8 @@ private:
bool gndOffsetValid; // true when the ground offset state can still be considered valid bool gndOffsetValid; // true when the ground offset state can still be considered valid
Vector3f delAngBodyOF; // bias corrected delta angle of the vehicle IMU measured summed across the time since the last OF measurement Vector3f delAngBodyOF; // bias corrected delta angle of the vehicle IMU measured summed across the time since the last OF measurement
float delTimeOF; // time that delAngBodyOF is summed across float delTimeOF; // time that delAngBodyOF is summed across
Vector3f accelPosOffset; // position of IMU accelerometer unit in body frame (m)
// Range finder // Range finder
float baroHgtOffset; // offset applied when when switching to use of Baro height float baroHgtOffset; // offset applied when when switching to use of Baro height