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AP_InertialSensor: Correct SITL IMU1 accel for position in body frame

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priseborough 2016-10-19 07:41:26 +11:00 committed by Andrew Tridgell
parent d830f68901
commit 470f5c4562
1 changed files with 20 additions and 0 deletions
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20
libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp
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@ -73,6 +73,26 @@ void AP_InertialSensor_SITL::timer_update(void)
float yAccel2 = sitl->state.yAccel + accel2_noise * rand_float();
float zAccel2 = sitl->state.zAccel + accel2_noise * rand_float();
// correct for the acceleration due to the IMU position offset and angular acceleration
// correct for the centripetal acceleration
// only apply corrections to first accelerometer
Vector3f pos_offset = sitl->imu_pos_offset;
if (!pos_offset.is_zero()) {
// calculate sensed acceleration due to lever arm effect
// Note: the % operator has been overloaded to provide a cross product
Vector3f angular_accel = Vector3f(radians(sitl->state.angAccel.x) , radians(sitl->state.angAccel.y) , radians(sitl->state.angAccel.z));
Vector3f lever_arm_accel = angular_accel % pos_offset;
// calculate sensed acceleration due to centripetal acceleration
Vector3f angular_rate = Vector3f(radians(sitl->state.rollRate), radians(sitl->state.pitchRate), radians(sitl->state.yawRate));
Vector3f centripetal_accel = angular_rate % (angular_rate % pos_offset);
// apply corrections
xAccel1 += lever_arm_accel.x + centripetal_accel.x;
yAccel1 += lever_arm_accel.y + centripetal_accel.y;
zAccel1 += lever_arm_accel.z + centripetal_accel.z;
}
if (fabsf(sitl->accel_fail) > 1.0e-6f) {
xAccel1 = sitl->accel_fail;
yAccel1 = sitl->accel_fail;