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DCM: removed the limit on linear acceleration

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we get linear accelerations of more than 1g when turning corners
This commit is contained in:
Andrew Tridgell 2012-03-08 00:00:26 +11:00
parent 4f739ea28f
commit 9e07fa3af6
2 changed files with 8 additions and 6 deletions
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7
libraries/AP_DCM/AP_DCM.cpp
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@ -135,13 +135,14 @@ void
AP_DCM::accel_adjust(Vector3f &accel) AP_DCM::accel_adjust(Vector3f &accel)
{ {
float veloc; float veloc;
// compensate for linear acceleration, limited to 1g // compensate for linear acceleration. This makes a
// surprisingly large difference in the pitch estimate when
// turning, plus on takeoff and landing
float acceleration = _gps->acceleration(); float acceleration = _gps->acceleration();
acceleration = constrain(acceleration, 0, 9.8);
accel.x -= acceleration; accel.x -= acceleration;
// compensate for centripetal acceleration // compensate for centripetal acceleration
veloc = _gps->ground_speed / 100; veloc = _gps->ground_speed * 0.01;
// We are working with a modified version of equation 26 as // We are working with a modified version of equation 26 as
// our IMU object reports acceleration in the positive axis // our IMU object reports acceleration in the positive axis

7
libraries/AP_Quaternion/AP_Quaternion.cpp
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@ -495,14 +495,15 @@ void AP_Quaternion::update(void)
accel.z = -accel.z; accel.z = -accel.z;
if (_centripetal && _gps && _gps->status() == GPS::GPS_OK) { if (_centripetal && _gps && _gps->status() == GPS::GPS_OK) {
// compensate for linear acceleration, limited to 1g // compensate for linear acceleration. This makes a
// surprisingly large difference in the pitch estimate when
// turning, plus on takeoff and landing
float acceleration = _gps->acceleration(); float acceleration = _gps->acceleration();
acceleration = constrain(acceleration, 0, 9.8);
accel.x -= acceleration; accel.x -= acceleration;
// compensate for centripetal acceleration // compensate for centripetal acceleration
float veloc; float veloc;
veloc = _gps->ground_speed / 100; veloc = _gps->ground_speed * 0.01;
// be careful of the signs in this calculation. the // be careful of the signs in this calculation. the
// quaternion system uses different signs than the // quaternion system uses different signs than the
// rest of APM // rest of APM