mirror of https://github.com/ArduPilot/ardupilot
88 lines
3.3 KiB
Plaintext
88 lines
3.3 KiB
Plaintext
#if INERTIAL_NAV == ENABLED
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// generates a new location and velocity in space based on inertia
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// Calc 100 hz
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void calc_inertia()
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{
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// rotate accels based on DCM
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// --------------------------
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accels_rotated = ahrs.get_dcm_matrix() * imu.get_accel();
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//accels_rotated += accels_offset; // skew accels to account for long term error using calibration
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accels_rotated.z += 9.805; // remove influence of gravity
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// rising = 2
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// neutral = 0
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// falling = -2
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// ACC Y POS = going EAST
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// ACC X POS = going North
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// ACC Z POS = going DOWN (lets flip this)
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// Integrate accels to get the velocity
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// ------------------------------------
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Vector3f temp = accels_rotated * (G_Dt * 100);
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temp.z = -temp.z; // Temp is changed to world frame and we can use it normaly
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accels_velocity += temp;
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// Integrate velocity to get the Position
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// ------------------------------------
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accels_position += accels_velocity * G_Dt;
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/*
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* current_loc.lng += accels_velocity.x * G_Dt;
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* current_loc.lat += accels_velocity.y * G_Dt;
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* current_loc.alt += accels_velocity.z * G_Dt;
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*/
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}
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void xy_error_correction()
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{
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// Calculate speed error
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// ---------------------
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speed_error.x = x_actual_speed - accels_velocity.x;
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speed_error.y = y_actual_speed - accels_velocity.y;
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// Calculate position error
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// ------------------------
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//position_error.x = accels_position.x - current_loc.lng;
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//position_error.y = accels_position.y - current_loc.lat;
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// correct integrated velocity by speed_error
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// this number must be small or we will bring back sensor latency
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// -------------------------------------------
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accels_velocity.x += speed_error.x * 0.03; // g.speed_correction_x;
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accels_velocity.y += speed_error.y * 0.03;
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// Error correct the accels to deal with calibration, drift and noise
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// ------------------------------------------------------------------
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//accels_position.x -= position_error.x * 0.08; // g.loiter_offset_correction; //.001;
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//accels_position.y -= position_error.y * 0.08; // g.loiter_offset_correction; //.001;
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accels_position.x = 0;
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accels_position.y = 0;
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}
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void z_error_correction()
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{
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// Calculate speed error
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// ---------------------
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speed_error.z = climb_rate - accels_velocity.z;
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//position_error.z = accels_position.z - current_loc.alt;
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// correct integrated velocity by speed_error
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// this number must be small or we will bring back sensor latency
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// -------------------------------------------
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accels_velocity.z += speed_error.z * 0.0350; //speed_correction_z;
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// ------------------------------------------------------------------
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//accels_position.z -= position_error.z * 0.006; //g.alt_offset_correction; // OK
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accels_position.z = 0;
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// For developement only
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// ---------------------
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if(motors.armed())
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Log_Write_Raw();
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}
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#endif |