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SITL: cleanup the gyro drift calculations 

use units that are more easily understood
This commit is contained in:
Andrew Tridgell 2012-03-08 18:16:11 +11:00
parent ad21913605
commit 1002bbcbfe
1 changed files with 9 additions and 9 deletions
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18
libraries/Desktop/support/sitl_adc.h
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@ -9,13 +9,13 @@
#include <stdlib.h> #include <stdlib.h>
#include <math.h> #include <math.h>
static const float vibration_level = 2.0; static const float vibration_level = 0.5;
static const float drift_speed = 1.0; static const float drift_speed = 0.5; // degrees/second/minute
static const float drift_level = 1.0; static const float drift_time = 5; // time to reverse drift direction (minutes)
// order zgyro, xgyro, ygyro, temp, xacc, yacc, zacc, aspd // order zgyro, xgyro, ygyro, temp, xacc, yacc, zacc, aspd
static const float noise_scale[8] = { 150, 150, 150, 0, 400, 400, 400, 0 }; static const float noise_scale[8] = { 150, 150, 150, 0, 400, 400, 400, 0 };
static const float noise_offset[8]= { 0, 0, 0, 0, 0, 0, 0, 0 }; static const float noise_offset[8]= { 0, 0, 0, 0, 0, 0, 0, 0 };
static const float drift_rate[8] = { 0.7, 1.0, 0.5, 0, 0, 0, 0, 0 }; static const float drift_rate[8] = { 1.0, 1.0, 1.0, 0, 0, 0, 0, 0 };
static const float base_noise = 2; static const float base_noise = 2;
// generate a random float between -1 and 1 // generate a random float between -1 and 1
@ -27,16 +27,16 @@ static double rand_float(void)
static inline float gyro_drift(uint8_t chan) static inline float gyro_drift(uint8_t chan)
{ {
if (drift_rate[chan] * drift_level == 0.0) { if (drift_rate[chan] * drift_speed == 0.0) {
return 0; return 0;
} }
extern long unsigned int micros(void); extern long unsigned int micros(void);
double period = 10*drift_rate[chan] * drift_speed; double period = drift_rate[chan] * drift_time * 2;
double minutes = fmod(micros() / 60.0e6, period); double minutes = fmod(micros() / 60.0e6, period);
if (minutes < period/2) { if (minutes < period/2) {
return minutes * drift_level; return minutes * drift_speed / 0.4;
} }
return (period - minutes) * drift_level; return (period - minutes) * drift_speed / 0.4;
} }
@ -59,7 +59,7 @@ static inline float noise_generator(uint8_t chan)
} }
} }
if (noise_count == 0) { if (noise_count == 0) {
return rand_float() * base_noise * vibration_level; return gyro_drift(chan) + rand_float() * base_noise * vibration_level;
} }
return gyro_drift(chan) + noise/noise_count; return gyro_drift(chan) + noise/noise_count;
} }