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AP_InertialSensor: support SIM_ACC_TRIM

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and cleanup vector maths
This commit is contained in:
Andrew Tridgell 2021-01-24 16:55:08 +11:00
parent 7292b4f260
commit e908a996af
1 changed files with 26 additions and 32 deletions
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58
libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp
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@ -74,30 +74,34 @@ void AP_InertialSensor_SITL::generate_accel()
for (uint8_t j = 0; j < nsamples; j++) {
float xAccel = sitl->state.xAccel;
float yAccel = sitl->state.yAccel;
float zAccel = sitl->state.zAccel;
Vector3f accel = Vector3f(sitl->state.xAccel,
sitl->state.yAccel,
sitl->state.zAccel);
const Vector3f &accel_trim = sitl->accel_trim.get();
if (!accel_trim.is_zero()) {
Matrix3f trim_rotation;
trim_rotation.from_euler(accel_trim.x, accel_trim.y, 0);
accel = trim_rotation.transposed() * accel;
}
// add scaling
Vector3f accel_scale = sitl->accel_scale[accel_instance].get();
// note that we divide so the SIM_ACC values match the
// INS_ACCSCAL values
if (!is_zero(accel_scale.x)) {
xAccel /= accel_scale.x;
accel.x /= accel_scale.x;
}
if (!is_zero(accel_scale.y)) {
yAccel /= accel_scale.y;
accel.y /= accel_scale.y;
}
if (!is_zero(accel_scale.z)) {
zAccel /= accel_scale.z;
accel.z /= accel_scale.z;
}
// apply bias
const Vector3f &accel_bias = sitl->accel_bias[accel_instance].get();
xAccel += accel_bias.x;
yAccel += accel_bias.y;
zAccel += accel_bias.z;
accel += accel_bias;
// minimum noise levels are 2 bits, but averaged over many
// samples, giving around 0.01 m/s/s
@ -105,10 +109,9 @@ void AP_InertialSensor_SITL::generate_accel()
float noise_variation = 0.05f;
// this smears the individual motor peaks somewhat emulating physical motors
float freq_variation = 0.12f;
// add in sensor noise
xAccel += accel_noise * rand_float();
yAccel += accel_noise * rand_float();
zAccel += accel_noise * rand_float();
accel += Vector3f(rand_float(), rand_float(), rand_float()) * accel_noise;
bool motors_on = sitl->throttle > sitl->ins_noise_throttle_min;
@ -122,17 +125,10 @@ void AP_InertialSensor_SITL::generate_accel()
// VIB_FREQ is a static vibration applied to each axis
const Vector3f &vibe_freq = sitl->vibe_freq;
if (vibe_freq.is_zero() && is_zero(sitl->vibe_motor)) {
// no rpm noise, so add in background noise if any
xAccel += accel_noise * rand_float();
yAccel += accel_noise * rand_float();
zAccel += accel_noise * rand_float();
}
if (!vibe_freq.is_zero() && motors_on) {
xAccel += sinf(accel_time * 2 * M_PI * vibe_freq.x) * calculate_noise(accel_noise, noise_variation);
yAccel += sinf(accel_time * 2 * M_PI * vibe_freq.y) * calculate_noise(accel_noise, noise_variation);
zAccel += sinf(accel_time * 2 * M_PI * vibe_freq.z) * calculate_noise(accel_noise, noise_variation);
accel.x += sinf(accel_time * 2 * M_PI * vibe_freq.x) * calculate_noise(accel_noise, noise_variation);
accel.y += sinf(accel_time * 2 * M_PI * vibe_freq.y) * calculate_noise(accel_noise, noise_variation);
accel.z += sinf(accel_time * 2 * M_PI * vibe_freq.z) * calculate_noise(accel_noise, noise_variation);
accel_time += 1.0f / (accel_sample_hz * nsamples);
}
@ -149,9 +145,9 @@ void AP_InertialSensor_SITL::generate_accel()
else if (phase_incr < -M_PI) {
phase += 2 * M_PI;
}
xAccel += sinf(phase) * calculate_noise(accel_noise * sitl->vibe_motor_scale, noise_variation);
yAccel += sinf(phase) * calculate_noise(accel_noise * sitl->vibe_motor_scale, noise_variation);
zAccel += sinf(phase) * calculate_noise(accel_noise * sitl->vibe_motor_scale, noise_variation);
accel.x += sinf(phase) * calculate_noise(accel_noise * sitl->vibe_motor_scale, noise_variation);
accel.y += sinf(phase) * calculate_noise(accel_noise * sitl->vibe_motor_scale, noise_variation);
accel.z += sinf(phase) * calculate_noise(accel_noise * sitl->vibe_motor_scale, noise_variation);
}
}
@ -170,17 +166,15 @@ void AP_InertialSensor_SITL::generate_accel()
Vector3f centripetal_accel = angular_rate % (angular_rate % pos_offset);
// apply corrections
xAccel += lever_arm_accel.x + centripetal_accel.x;
yAccel += lever_arm_accel.y + centripetal_accel.y;
zAccel += lever_arm_accel.z + centripetal_accel.z;
accel.x += lever_arm_accel.x + centripetal_accel.x;
accel.y += lever_arm_accel.y + centripetal_accel.y;
accel.z += lever_arm_accel.z + centripetal_accel.z;
}
if (fabsf(sitl->accel_fail[accel_instance]) > 1.0e-6f) {
xAccel = yAccel = zAccel = sitl->accel_fail[accel_instance];
accel.x = accel.y = accel.z = sitl->accel_fail[accel_instance];
}
Vector3f accel = Vector3f(xAccel, yAccel, zAccel);
sitl->imu_tcal[gyro_instance].sitl_apply_accel(T, accel);
_notify_new_accel_sensor_rate_sample(accel_instance, accel);