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AP_InertialSensor: work around gyro and accel errors on startup

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This commit is contained in:
Jonathan Challinger 2015-04-30 02:15:36 -07:00 committed by Randy Mackay
parent 047e9fabaf
commit c454631be8
2 changed files with 38 additions and 5 deletions
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37
libraries/AP_InertialSensor/AP_InertialSensor.cpp
View File

@ -346,7 +346,9 @@ AP_InertialSensor::AP_InertialSensor() :
_log_raw_data(false), _log_raw_data(false),
_backends_detected(false), _backends_detected(false),
_dataflash(NULL), _dataflash(NULL),
_accel_cal_requires_reboot(false) _accel_cal_requires_reboot(false),
_startup_error_counts_set(false),
_startup_ms(0)
{ {
if (_s_instance) { if (_s_instance) {
AP_HAL::panic("Too many inertial sensors"); AP_HAL::panic("Too many inertial sensors");
@ -374,6 +376,9 @@ AP_InertialSensor::AP_InertialSensor() :
_delta_angle_acc_dt[i] = 0; _delta_angle_acc_dt[i] = 0;
_last_delta_angle[i].zero(); _last_delta_angle[i].zero();
_last_raw_gyro[i].zero(); _last_raw_gyro[i].zero();
_accel_startup_error_count[i] = 0;
_gyro_startup_error_count[i] = 0;
} }
for (uint8_t i=0; i<INS_VIBRATION_CHECK_INSTANCES; i++) { for (uint8_t i=0; i<INS_VIBRATION_CHECK_INSTANCES; i++) {
_accel_vibe_floor_filter[i].set_cutoff_frequency(AP_INERTIAL_SENSOR_ACCEL_VIBE_FLOOR_FILT_HZ); _accel_vibe_floor_filter[i].set_cutoff_frequency(AP_INERTIAL_SENSOR_ACCEL_VIBE_FLOOR_FILT_HZ);
@ -930,25 +935,47 @@ void AP_InertialSensor::update(void)
_delta_angle_acc_dt[i] = 0; _delta_angle_acc_dt[i] = 0;
} }
if (!_startup_error_counts_set) {
for (uint8_t i=0; i<INS_MAX_INSTANCES; i++) {
_accel_startup_error_count[i] = _accel_error_count[i];
_gyro_startup_error_count[i] = _gyro_error_count[i];
}
if (_startup_ms == 0) {
_startup_ms = AP_HAL::millis();
} else if (AP_HAL::millis()-_startup_ms > 2000) {
_startup_error_counts_set = true;
}
}
for (uint8_t i=0; i<INS_MAX_INSTANCES; i++) {
if (_accel_error_count[i] < _accel_startup_error_count[i]) {
_accel_startup_error_count[i] = _accel_error_count[i];
}
if (_gyro_error_count[i] < _gyro_startup_error_count[i]) {
_gyro_startup_error_count[i] = _gyro_error_count[i];
}
}
// adjust health status if a sensor has a non-zero error count // adjust health status if a sensor has a non-zero error count
// but another sensor doesn't. // but another sensor doesn't.
bool have_zero_accel_error_count = false; bool have_zero_accel_error_count = false;
bool have_zero_gyro_error_count = false; bool have_zero_gyro_error_count = false;
for (uint8_t i=0; i<INS_MAX_INSTANCES; i++) { for (uint8_t i=0; i<INS_MAX_INSTANCES; i++) {
if (_accel_healthy[i] && _accel_error_count[i] == 0) { if (_accel_healthy[i] && _accel_error_count[i] <= _accel_startup_error_count[i]) {
have_zero_accel_error_count = true; have_zero_accel_error_count = true;
} }
if (_gyro_healthy[i] && _gyro_error_count[i] == 0) { if (_gyro_healthy[i] && _gyro_error_count[i] <= _gyro_startup_error_count[i]) {
have_zero_gyro_error_count = true; have_zero_gyro_error_count = true;
} }
} }
for (uint8_t i=0; i<INS_MAX_INSTANCES; i++) { for (uint8_t i=0; i<INS_MAX_INSTANCES; i++) {
if (_gyro_healthy[i] && _gyro_error_count[i] != 0 && have_zero_gyro_error_count) { if (_gyro_healthy[i] && _gyro_error_count[i] > _gyro_startup_error_count[i] && have_zero_gyro_error_count) {
// we prefer not to use a gyro that has had errors // we prefer not to use a gyro that has had errors
_gyro_healthy[i] = false; _gyro_healthy[i] = false;
} }
if (_accel_healthy[i] && _accel_error_count[i] != 0 && have_zero_accel_error_count) { if (_accel_healthy[i] && _accel_error_count[i] > _accel_startup_error_count[i] && have_zero_accel_error_count) {
// we prefer not to use a accel that has had errors // we prefer not to use a accel that has had errors
_accel_healthy[i] = false; _accel_healthy[i] = false;
} }

6
libraries/AP_InertialSensor/AP_InertialSensor.h
View File

@ -424,4 +424,10 @@ private:
bool _new_trim; bool _new_trim;
bool _accel_cal_requires_reboot; bool _accel_cal_requires_reboot;
// sensor error count at startup (used to ignore errors within 2 seconds of startup)
uint32_t _accel_startup_error_count[INS_MAX_INSTANCES];
uint32_t _gyro_startup_error_count[INS_MAX_INSTANCES];
bool _startup_error_counts_set;
uint32_t _startup_ms;
}; };