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AHRS: added AHRS_BARO_USE parameter 

allow disabling of the use of the barometer for vertical acceleration
compensation
This commit is contained in:
Andrew Tridgell 2012-09-12 14:42:04 +10:00
parent 4a942bc45d
commit 715541b508
3 changed files with 10 additions and 5 deletions
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9
libraries/AP_AHRS/AP_AHRS.cpp
View File

@ -22,7 +22,7 @@ const AP_Param::GroupInfo AP_AHRS::var_info[] PROGMEM = {
AP_GROUPINFO("GPS_GAIN", 2, AP_AHRS, gps_gain, 1.0), AP_GROUPINFO("GPS_GAIN", 2, AP_AHRS, gps_gain, 1.0),
// @Param: GPS_USE // @Param: GPS_USE
// @DisplayName: enable/disable use of GPS for position estimation // @DisplayName: AHRS use GPS
// @Description: This controls how how much to use the GPS to correct the attitude. This is for testing the dead-reckoning code // @Description: This controls how how much to use the GPS to correct the attitude. This is for testing the dead-reckoning code
// @User: Advanced // @User: Advanced
AP_GROUPINFO("GPS_USE", 3, AP_AHRS, _gps_use, 1), AP_GROUPINFO("GPS_USE", 3, AP_AHRS, _gps_use, 1),
@ -49,6 +49,13 @@ const AP_Param::GroupInfo AP_AHRS::var_info[] PROGMEM = {
// @Increment: 1 // @Increment: 1
AP_GROUPINFO("WIND_MAX", 6, AP_AHRS, _wind_max, 0.0), AP_GROUPINFO("WIND_MAX", 6, AP_AHRS, _wind_max, 0.0),
// @Param: BARO_USE
// @DisplayName: AHRS Use Barometer
// @Description: This controls the use of the barometer for vertical acceleration compensation in AHRS
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
AP_GROUPINFO("BARO_USE", 7, AP_AHRS, _baro_use, 1),
AP_GROUPEND AP_GROUPEND
}; };

1
libraries/AP_AHRS/AP_AHRS.h
View File

@ -143,6 +143,7 @@ public:
AP_Float _kp; AP_Float _kp;
AP_Float gps_gain; AP_Float gps_gain;
AP_Int8 _gps_use; AP_Int8 _gps_use;
AP_Int8 _baro_use;
AP_Int8 _wind_max; AP_Int8 _wind_max;
// for holding parameters // for holding parameters

5
libraries/AP_AHRS/AP_AHRS_DCM.cpp
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@ -446,18 +446,15 @@ AP_AHRS_DCM::drift_correction(float deltat)
_last_airspeed = airspeed.length(); _last_airspeed = airspeed.length();
} }
#define USE_BAROMETER_FOR_VERTICAL_VELOCITY 1
#if USE_BAROMETER_FOR_VERTICAL_VELOCITY
/* /*
* The barometer for vertical velocity is only enabled if we got * The barometer for vertical velocity is only enabled if we got
* at least 5 pressure samples for the reading. This ensures we * at least 5 pressure samples for the reading. This ensures we
* don't use very noisy climb rate data * don't use very noisy climb rate data
*/ */
if (_barometer != NULL && _barometer->get_pressure_samples() >= 5) { if (_baro_use && _barometer != NULL && _barometer->get_pressure_samples() >= 5) {
// Z velocity is down // Z velocity is down
velocity.z = -_barometer->get_climb_rate(); velocity.z = -_barometer->get_climb_rate();
} }
#endif
// see if this is our first time through - in which case we // see if this is our first time through - in which case we
// just setup the start times and return // just setup the start times and return