forked from Archive/PX4-Autopilot
attitude_estimator_q: Max gyro bias limiting, auto declination
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@ -58,7 +58,6 @@
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#include <uORB/topics/sensor_combined.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/vehicle_control_mode.h>
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#include <uORB/topics/vehicle_gps_position.h>
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#include <uORB/topics/vehicle_global_position.h>
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#include <uORB/topics/parameter_update.h>
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#include <drivers/drv_hrt.h>
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@ -122,18 +121,22 @@ private:
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param_t w_mag;
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param_t w_gyro_bias;
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param_t mag_decl;
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param_t mag_decl_auto;
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param_t acc_comp;
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param_t bias_max;
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} _params_handles; /**< handles for interesting parameters */
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float _w_accel = 0.0f;
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float _w_mag = 0.0f;
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float _w_gyro_bias = 0.0f;
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float _mag_decl = 0.0f;
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bool _mag_decl_auto = false;
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bool _acc_comp = false;
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float _bias_max = 0.0f;
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Vector<3> _gyro;
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Vector<3> _accel;
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Vector<3> _mag;
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bool _acc_comp = false;
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Quaternion _q;
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Vector<3> _rates;
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@ -164,7 +167,9 @@ AttitudeEstimatorQ::AttitudeEstimatorQ() {
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_params_handles.w_mag = param_find("ATT_W_MAG");
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_params_handles.w_gyro_bias = param_find("ATT_W_GYRO_BIAS");
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_params_handles.mag_decl = param_find("ATT_MAG_DECL");
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_params_handles.mag_decl_auto = param_find("ATT_MAG_DECL_A");
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_params_handles.acc_comp = param_find("ATT_ACC_COMP");
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_params_handles.bias_max = param_find("ATT_BIAS_MAX");
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}
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/**
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@ -257,6 +262,10 @@ void AttitudeEstimatorQ::task_main() {
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orb_check(_global_pos_sub, &gpos_updated);
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if (gpos_updated) {
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orb_copy(ORB_ID(vehicle_global_position), _global_pos_sub, &_gpos);
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if (_mag_decl_auto && _gpos.eph < 20.0f && hrt_elapsed_time(&_gpos.timestamp) < 1000000) {
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/* set magnetic declination automatically */
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_mag_decl = math::radians(get_mag_declination(_gpos.lat, _gpos.lon));
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}
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}
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if (_acc_comp && _gpos.timestamp != 0 && hrt_absolute_time() < _gpos.timestamp + 20000 && _gpos.eph < 5.0f) {
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@ -341,9 +350,13 @@ void AttitudeEstimatorQ::update_parameters(bool force) {
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float mag_decl_deg = 0.0f;
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param_get(_params_handles.mag_decl, &mag_decl_deg);
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_mag_decl = math::radians(mag_decl_deg);
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int32_t mag_decl_auto_int;
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param_get(_params_handles.mag_decl_auto, &mag_decl_auto_int);
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_mag_decl_auto = mag_decl_auto_int != 0;
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int32_t acc_comp_int;
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param_get(_params_handles.acc_comp, &acc_comp_int);
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_acc_comp = acc_comp_int != 0;
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param_get(_params_handles.bias_max, &_bias_max);
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}
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}
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@ -400,6 +413,9 @@ void AttitudeEstimatorQ::update(float dt) {
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// Gyro bias estimation
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_gyro_bias += corr * (_w_gyro_bias * dt);
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for (int i = 0; i < 3; i++) {
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_gyro_bias(i) = math::constrain(_gyro_bias(i), -_bias_max, _bias_max);
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}
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_rates = _gyro + _gyro_bias;
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// Feed forward gyro
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@ -45,5 +45,6 @@ PARAM_DEFINE_FLOAT(ATT_W_ACC, 0.2f);
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PARAM_DEFINE_FLOAT(ATT_W_MAG, 0.1f);
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PARAM_DEFINE_FLOAT(ATT_W_GYRO_BIAS, 0.1f);
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PARAM_DEFINE_FLOAT(ATT_MAG_DECL, 0.0f); ///< magnetic declination, in degrees
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PARAM_DEFINE_INT32(ATT_MAG_DECL_A, 1); ///< automatic GPS based magnetic declination
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PARAM_DEFINE_INT32(ATT_ACC_COMP, 2); ///< acceleration compensation
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PARAM_DEFINE_FLOAT(ATT_BIAS_MAX, 0.05f); ///< gyro bias limit, rad/s
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