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px4-firmware
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Fixed few minor bug

This commit is contained in:
Hyon Lim (Retina) 2013-05-21 16:17:20 +10:00
parent cd7b0f7aab
commit 0c3412223b
2 changed files with 8 additions and 2 deletions
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6
src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_main.cpp
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@ -7,6 +7,7 @@
#include <nuttx/config.h>
#include <unistd.h>
#include <stdlib.h>
#include <string.h>
#include <stdio.h>
#include <stdbool.h>
#include <poll.h>
@ -44,6 +45,7 @@ static bool thread_should_exit = false; /**< Deamon exit flag */
static bool thread_running = false; /**< Deamon status flag */
static int attitude_estimator_so3_comp_task; /**< Handle of deamon task / thread */
volatile float q0 = 1.0f, q1 = 0.0f, q2 = 0.0f, q3 = 0.0f; // quaternion of sensor frame relative to auxiliary frame
volatile float integralFBx = 0.0f, integralFBy = 0.0f, integralFBz = 0.0f; // integral error terms scaled by Ki
/**
* Mainloop of attitude_estimator_so3_comp.
@ -525,6 +527,10 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
float bSq = q1*q1;
float cSq = q2*q2;
float dSq = q3*q3;
float a = q0;
float b = q1;
float c = q2;
float d = q3;
Rot_matrix[0] = aSq + bSq - cSq - dSq;
Rot_matrix[1] = 2.0 * (b * c - a * d);

4
src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_params.c
View File

@ -15,7 +15,7 @@ PARAM_DEFINE_FLOAT(ATT_ROLL_OFFS, 0.0f);
PARAM_DEFINE_FLOAT(ATT_PITCH_OFFS, 0.0f);
PARAM_DEFINE_FLOAT(ATT_YAW_OFFS, 0.0f);
int parameters_init(struct attitude_estimator_ekf_param_handles *h)
int parameters_init(struct attitude_estimator_so3_comp_param_handles *h)
{
/* Filter gain parameters */
h->Kp = param_find("SO3_COMP_KP");
@ -29,7 +29,7 @@ int parameters_init(struct attitude_estimator_ekf_param_handles *h)
return OK;
}
int parameters_update(const struct attitude_estimator_ekf_param_handles *h, struct attitude_estimator_ekf_params *p)
int parameters_update(const struct attitude_estimator_so3_comp_param_handles *h, struct attitude_estimator_so3_comp_params *p)
{
/* Update filter gain */
param_get(h->Kp, &(p->Kp));