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AP_InertialSensor: reduce POS param range to 5m and add increment

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This commit is contained in:
Randy Mackay 2020-01-30 13:31:26 +09:00
parent b31a9fd54a
commit b7f6f4a05e
1 changed files with 16 additions and 8 deletions
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24
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -325,21 +325,24 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
// @DisplayName: IMU accelerometer X position
// @Description: X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
// @Units: m
// @Range: -10 10
// @Range: -5 5
// @Increment: 0.01
// @User: Advanced
// @Param: POS1_Y
// @DisplayName: IMU accelerometer Y position
// @Description: Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
// @Units: m
// @Range: -10 10
// @Range: -5 5
// @Increment: 0.01
// @User: Advanced
// @Param: POS1_Z
// @DisplayName: IMU accelerometer Z position
// @Description: Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
// @Units: m
// @Range: -10 10
// @Range: -5 5
// @Increment: 0.01
// @User: Advanced
AP_GROUPINFO("POS1", 27, AP_InertialSensor, _accel_pos[0], 0.0f),
@ -347,21 +350,24 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
// @DisplayName: IMU accelerometer X position
// @Description: X position of the second IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
// @Units: m
// @Range: -10 10
// @Range: -5 5
// @Increment: 0.01
// @User: Advanced
// @Param: POS2_Y
// @DisplayName: IMU accelerometer Y position
// @Description: Y position of the second IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
// @Units: m
// @Range: -10 10
// @Range: -5 5
// @Increment: 0.01
// @User: Advanced
// @Param: POS2_Z
// @DisplayName: IMU accelerometer Z position
// @Description: Z position of the second IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
// @Units: m
// @Range: -10 10
// @Range: -5 5
// @Increment: 0.01
// @User: Advanced
AP_GROUPINFO("POS2", 28, AP_InertialSensor, _accel_pos[1], 0.0f),
@ -376,14 +382,16 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
// @DisplayName: IMU accelerometer Y position
// @Description: Y position of the third IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
// @Units: m
// @Range: -10 10
// @Range: -5 5
// @Increment: 0.01
// @User: Advanced
// @Param: POS3_Z
// @DisplayName: IMU accelerometer Z position
// @Description: Z position of the third IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
// @Units: m
// @Range: -10 10
// @Range: -5 5
// @Increment: 0.01
// @User: Advanced
AP_GROUPINFO("POS3", 29, AP_InertialSensor, _accel_pos[2], 0.0f),