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AP_AHRS: stop storing gyro drift rate as variable

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This is constant and is just folded into whereever it is used.
This commit is contained in:
Peter Barker 2021-07-20 13:40:57 +10:00 committed by Peter Barker
parent a4d98a457b
commit 5b372dae06
2 changed files with 1 additions and 9 deletions
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8
libraries/AP_AHRS/AP_AHRS_Backend.h
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@ -54,10 +54,6 @@ public:
_cos_pitch(1.0f), _cos_pitch(1.0f),
_cos_yaw(1.0f) _cos_yaw(1.0f)
{ {
// base the ki values by the sensors maximum drift
// rate.
_gyro_drift_limit = AP::ins().get_gyro_drift_rate();
// enable centrifugal correction by default // enable centrifugal correction by default
_flags.correct_centrifugal = true; _flags.correct_centrifugal = true;
@ -665,10 +661,6 @@ protected:
Matrix3f _rotation_autopilot_body_to_vehicle_body; Matrix3f _rotation_autopilot_body_to_vehicle_body;
Matrix3f _rotation_vehicle_body_to_autopilot_body; Matrix3f _rotation_vehicle_body_to_autopilot_body;
// the limit of the gyro drift claimed by the sensors, in
// radians/s/s
float _gyro_drift_limit;
// accelerometer values in the earth frame in m/s/s // accelerometer values in the earth frame in m/s/s
Vector3f _accel_ef[INS_MAX_INSTANCES]; Vector3f _accel_ef[INS_MAX_INSTANCES];
Vector3f _accel_ef_blended; Vector3f _accel_ef_blended;

2
libraries/AP_AHRS/AP_AHRS_DCM.cpp
View File

@ -930,7 +930,7 @@ AP_AHRS_DCM::drift_correction(float deltat)
// reported maximum gyro drift rate. This ensures that // reported maximum gyro drift rate. This ensures that
// short term errors don't cause a buildup of omega_I // short term errors don't cause a buildup of omega_I
// beyond the physical limits of the device // beyond the physical limits of the device
const float change_limit = _gyro_drift_limit * _omega_I_sum_time; const float change_limit = AP::ins().get_gyro_drift_rate() * _omega_I_sum_time;
_omega_I_sum.x = constrain_float(_omega_I_sum.x, -change_limit, change_limit); _omega_I_sum.x = constrain_float(_omega_I_sum.x, -change_limit, change_limit);
_omega_I_sum.y = constrain_float(_omega_I_sum.y, -change_limit, change_limit); _omega_I_sum.y = constrain_float(_omega_I_sum.y, -change_limit, change_limit);
_omega_I_sum.z = constrain_float(_omega_I_sum.z, -change_limit, change_limit); _omega_I_sum.z = constrain_float(_omega_I_sum.z, -change_limit, change_limit);