Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-23 00:04:02 -04:00
Code Issues Packages Projects Releases Wiki Activity

SITL: add some minimal noise when motors are off

Browse Source 
this actually improves the gyro calibration
This commit is contained in:
Andrew Tridgell 2012-07-05 11:04:54 +10:00
parent 6afbfdafeb
commit ce3f8be6c7
1 changed files with 13 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

21
libraries/Desktop/support/sitl_adc.cpp
View File

@ -104,16 +104,21 @@ void sitl_update_adc(float roll, float pitch, float yaw, // Relative to earth
} }
} }
// minimum noise levels are 2 bits
float accel_noise = _accel_scale*2;
float gyro_noise = _gyro_gain_y*2;
if (motors_on) { if (motors_on) {
// only add accel/gyro noise when motors are on // add extra noise when the motors are on
xAccel += sitl.accel_noise * rand_float(); accel_noise += sitl.accel_noise;
yAccel += sitl.accel_noise * rand_float(); gyro_noise += ToRad(sitl.gyro_noise);
zAccel += sitl.accel_noise * rand_float();
p += ToRad(sitl.gyro_noise) * rand_float();
q += ToRad(sitl.gyro_noise) * rand_float();
r += ToRad(sitl.gyro_noise) * rand_float();
} }
xAccel += accel_noise * rand_float();
yAccel += accel_noise * rand_float();
zAccel += accel_noise * rand_float();
p += gyro_noise * rand_float();
q += gyro_noise * rand_float();
r += gyro_noise * rand_float();
p += gyro_drift(); p += gyro_drift();
q += gyro_drift(); q += gyro_drift();