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DCM: use rotation_matrix_from_euler() to calculate initial yaw

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When we first get a compass reading or we first start motion we need
to setup the DCM matrix with the right yaw. This uses
rotation_matrix_from_euler() to get a DCM matrix corresponding to our
current roll/pitch, but with the correct yaw
This commit is contained in:
Andrew Tridgell 2012-02-24 11:30:09 +11:00
parent ab945f36df
commit d5b619218c
1 changed files with 23 additions and 24 deletions
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47
libraries/AP_DCM/AP_DCM.cpp
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@ -361,7 +361,6 @@ AP_DCM::drift_correction(void)
//static float scaled_omega_P[3]; //static float scaled_omega_P[3];
//static float scaled_omega_I[3]; //static float scaled_omega_I[3];
static bool in_motion = false; static bool in_motion = false;
Matrix3f rot_mat;
//*****Roll and Pitch*************** //*****Roll and Pitch***************
@ -391,10 +390,25 @@ AP_DCM::drift_correction(void)
//*****YAW*************** //*****YAW***************
if (_compass && _compass->healthy) { if (_compass && _compass->healthy) {
// We make the gyro YAW drift correction based on compass magnetic heading if (in_motion) {
error_course = (_dcm_matrix.a.x * _compass->heading_y) - (_dcm_matrix.b.x * _compass->heading_x); // Equation 23, Calculating YAW error // Equation 23, Calculating YAW error
// We make the gyro YAW drift correction based
// on compass magnetic heading
error_course = (_dcm_matrix.a.x * _compass->heading_y) - (_dcm_matrix.b.x * _compass->heading_x);
} else {
// this is our first estimate of the yaw,
// construct a DCM matrix based on the current
// roll/pitch and the compass heading, but
} else if (_gps) { // first ensure the compass heading has been
// calculated
_compass->calculate(_dcm_matrix);
// now construct a new DCM matrix
rotation_matrix_from_euler(_dcm_matrix, roll, pitch, _compass->heading);
in_motion = true;
}
} else if (_gps && _gps->status() == GPS::GPS_OK) {
// Use GPS Ground course to correct yaw gyro drift // Use GPS Ground course to correct yaw gyro drift
if (_gps->ground_speed >= SPEEDFILT) { if (_gps->ground_speed >= SPEEDFILT) {
@ -404,26 +418,11 @@ AP_DCM::drift_correction(void)
if(in_motion) { if(in_motion) {
error_course = (_dcm_matrix.a.x * _course_over_ground_y) - (_dcm_matrix.b.x * _course_over_ground_x); // Equation 23, Calculating YAW error error_course = (_dcm_matrix.a.x * _course_over_ground_y) - (_dcm_matrix.b.x * _course_over_ground_x); // Equation 23, Calculating YAW error
} else { } else {
float cos_psi_err, sin_psi_err; // when we first start moving, set the
// This is the case for when we first start moving and reset the DCM so that yaw matches the gps ground course // DCM matrix to the current
// This is just to get a reasonable estimate faster // roll/pitch values, but with yaw
yaw = atan2(_dcm_matrix.b.x, _dcm_matrix.a.x); // from the GPS
cos_psi_err = cos(ToRad(_gps->ground_course/100.0) - yaw); rotation_matrix_from_euler(_dcm_matrix, roll, pitch, ToRad(_gps->ground_course));
sin_psi_err = sin(ToRad(_gps->ground_course/100.0) - yaw);
// Rxx = cos psi err, Rxy = - sin psi err, Rxz = 0
// Ryx = sin psi err, Ryy = cos psi err, Ryz = 0
// Rzx = Rzy = 0, Rzz = 1
rot_mat.a.x = cos_psi_err;
rot_mat.a.y = -sin_psi_err;
rot_mat.b.x = sin_psi_err;
rot_mat.b.y = cos_psi_err;
rot_mat.a.z = 0;
rot_mat.b.z = 0;
rot_mat.c.x = 0;
rot_mat.c.y = 0;
rot_mat.c.z = 1.0;
_dcm_matrix = rot_mat * _dcm_matrix;
in_motion = true; in_motion = true;
error_course = 0; error_course = 0;
} }