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In case of DCM renorm "blow-up" reset the drift correction integrators

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This should aid in recovery if we loose the AHRS solution and have to force to initial orientation.  Also removed some old commented out code moved to the IMU object
This commit is contained in:
Doug Weibel 2011-11-05 08:59:16 -06:00
parent 37883a93f6
commit b105e7fd41
1 changed files with 3 additions and 8 deletions
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11
libraries/AP_DCM/AP_DCM.cpp
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@ -125,14 +125,6 @@ AP_DCM::matrix_update(float _G_Dt)
Matrix3f update_matrix;
Matrix3f temp_matrix;
//Record when you saturate any of the gyros.
/*
if( (fabs(_gyro_vector.x) >= radians(300)) ||
(fabs(_gyro_vector.y) >= radians(300)) ||
(fabs(_gyro_vector.z) >= radians(300))){
gyro_sat_count++;
}*/
_omega_integ_corr = _gyro_vector + _omega_I; // Used for _centripetal correction (theoretically better than _omega)
_omega = _omega_integ_corr + _omega_P; // Equation 16, adding proportional and integral correction terms
@ -232,6 +224,9 @@ AP_DCM::normalize(void)
_dcm_matrix.c.x = 0.0f;
_dcm_matrix.c.y = 0.0f;
_dcm_matrix.c.z = 1.0f;
_omega_I.x = 0.0f;
_omega_I.y = 0.0f;
_omega_I.z = 0.0f;
}
}