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AP_Param: update AHRS for new constructor syntax

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This commit is contained in:
Andrew Tridgell 2012-08-07 11:01:44 +10:00
parent 5e8fe8d93e
commit 898a5af692
4 changed files with 5 additions and 12 deletions
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6
libraries/AP_AHRS/AP_AHRS_DCM.cpp
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@ -36,21 +36,21 @@ const AP_Param::GroupInfo AP_AHRS_DCM::var_info[] PROGMEM = {
// @Description: This controls the weight the compass has on the overall heading // @Description: This controls the weight the compass has on the overall heading
// @Range: 0 .4 // @Range: 0 .4
// @Increment: .01 // @Increment: .01
AP_GROUPINFO("YAW_P", 0, AP_AHRS_DCM, _kp_yaw), AP_GROUPINFO("YAW_P", 0, AP_AHRS_DCM, _kp_yaw, 0.4),
// @Param: RP_P // @Param: RP_P
// @DisplayName: AHRS RP_P // @DisplayName: AHRS RP_P
// @Description: This controls how fast the accelerometers correct the attitude // @Description: This controls how fast the accelerometers correct the attitude
// @Range: 0 .4 // @Range: 0 .4
// @Increment: .01 // @Increment: .01
AP_GROUPINFO("RP_P", 1, AP_AHRS_DCM, _kp), AP_GROUPINFO("RP_P", 1, AP_AHRS_DCM, _kp, 0.4),
// @Param: GPS_GAIN // @Param: GPS_GAIN
// @DisplayName: AHRS GPS gain // @DisplayName: AHRS GPS gain
// @Description: This controls how how much to use the GPS to correct the attitude // @Description: This controls how how much to use the GPS to correct the attitude
// @Range: 0.0 1.0 // @Range: 0.0 1.0
// @Increment: .01 // @Increment: .01
AP_GROUPINFO("GPS_GAIN", 2, AP_AHRS_DCM, gps_gain), AP_GROUPINFO("GPS_GAIN", 2, AP_AHRS_DCM, gps_gain, 1.0),
AP_GROUPEND AP_GROUPEND
}; };

4
libraries/AP_AHRS/AP_AHRS_DCM.h
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@ -22,10 +22,6 @@ public:
// with large drift levels // with large drift levels
_ki = 0.0087; _ki = 0.0087;
_ki_yaw = 0.01; _ki_yaw = 0.01;
_kp.set(0.4);
_kp_yaw.set(0.4);
gps_gain.set(1.0);
} }
// return the smoothed gyro vector corrected for drift // return the smoothed gyro vector corrected for drift

4
libraries/AP_AHRS/AP_AHRS_MPU6000.cpp
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@ -34,14 +34,14 @@ const AP_Param::GroupInfo AP_AHRS_MPU6000::var_info[] PROGMEM = {
// @Description: This controls the weight the compass has on the overall heading // @Description: This controls the weight the compass has on the overall heading
// @Range: 0 .4 // @Range: 0 .4
// @Increment: .01 // @Increment: .01
AP_GROUPINFO("YAW_P", 0, AP_AHRS_MPU6000, _kp_yaw), AP_GROUPINFO("YAW_P", 0, AP_AHRS_MPU6000, _kp_yaw, 0.4),
// @Param: AHRS_RP_P // @Param: AHRS_RP_P
// @DisplayName: AHRS RP_P // @DisplayName: AHRS RP_P
// @Description: This controls how fast the accelerometers correct the attitude // @Description: This controls how fast the accelerometers correct the attitude
// @Range: 0 .4 // @Range: 0 .4
// @Increment: .01 // @Increment: .01
AP_GROUPINFO("RP_P", 1, AP_AHRS_MPU6000, _kp), AP_GROUPINFO("RP_P", 1, AP_AHRS_MPU6000, _kp, 0.4),
AP_GROUPEND AP_GROUPEND
}; };

3
libraries/AP_AHRS/AP_AHRS_MPU6000.h
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@ -29,9 +29,6 @@ public:
_ki = 0.0087; _ki = 0.0087;
_ki_yaw = 0.01; _ki_yaw = 0.01;
_kp.set(0.4);
_kp_yaw.set(0.4);
// dmp related variable initialisation // dmp related variable initialisation
_gyro_bias_from_gravity_gain = 0.008; _gyro_bias_from_gravity_gain = 0.008;
_compass_bias_time = 0; _compass_bias_time = 0;