mirror of https://github.com/ArduPilot/ardupilot
69 lines
2.1 KiB
C++
69 lines
2.1 KiB
C++
#include "AP_DAL_InertialSensor.h"
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#include <AP_Logger/AP_Logger.h>
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#include "AP_DAL.h"
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AP_DAL_InertialSensor::AP_DAL_InertialSensor()
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{
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for (uint8_t i=0; i<ARRAY_SIZE(_RISI); i++) {
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_RISI[i].instance = i;
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}
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}
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void AP_DAL_InertialSensor::start_frame()
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{
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const auto &ins = AP::ins();
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const log_RISH old_RISH = _RISH;
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_RISH.loop_rate_hz = ins.get_loop_rate_hz();
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_RISH.first_usable_gyro = ins.get_first_usable_gyro();
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_RISH.loop_delta_t = ins.get_loop_delta_t();
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_RISH.first_usable_accel = ins.get_first_usable_accel();
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_RISH.accel_count = ins.get_accel_count();
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_RISH.gyro_count = ins.get_gyro_count();
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WRITE_REPLAY_BLOCK_IFCHANGED(RISH, _RISH, old_RISH);
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for (uint8_t i=0; i<ARRAY_SIZE(_RISI); i++) {
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log_RISI &RISI = _RISI[i];
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const log_RISI old_RISI = RISI;
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// accel data
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RISI.use_accel = ins.use_accel(i);
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if (RISI.use_accel) {
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RISI.get_delta_velocity_ret = ins.get_delta_velocity(i, RISI.delta_velocity, RISI.delta_velocity_dt);
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}
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// gryo data
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RISI.use_gyro = ins.use_gyro(i);
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if (RISI.use_gyro) {
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RISI.get_delta_angle_ret = ins.get_delta_angle(i, RISI.delta_angle, RISI.delta_angle_dt);
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}
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update_filtered(i);
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WRITE_REPLAY_BLOCK_IFCHANGED(RISI, RISI, old_RISI);
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// update sensor position
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pos[i] = ins.get_imu_pos_offset(i);
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}
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}
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// update filtered gyro and accel
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void AP_DAL_InertialSensor::update_filtered(uint8_t i)
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{
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if (!is_positive(alpha)) {
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// we use a constant 10Hz for EKF filtered accel/gyro, making the EKF
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// independent of the INS filter settings
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const float cutoff_hz = 10.0;
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alpha = calc_lowpass_alpha_dt(get_loop_delta_t(), cutoff_hz);
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}
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if (is_positive(_RISI[i].delta_angle_dt)) {
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gyro_filtered[i] += ((_RISI[i].delta_angle/_RISI[i].delta_angle_dt) - gyro_filtered[i]) * alpha;
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}
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if (is_positive(_RISI[i].delta_velocity_dt)) {
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accel_filtered[i] += ((_RISI[i].delta_velocity/_RISI[i].delta_velocity_dt) - accel_filtered[i]) * alpha;
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}
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}
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