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Removed unused ATT_XXX_OFF3 paramters. Offset tuning now accomplished via the sensors app using new SENS_BOARD_XXX_OFF parameters.

This commit is contained in:
Darryl Taylor 2014-06-18 20:49:48 +08:00
parent 90a89ff2cd
commit 95003c6e10
3 changed files with 4 additions and 19 deletions
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9
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
View File

@ -512,11 +512,10 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
/* send out */
att.timestamp = raw.timestamp;
/* Compensate for fmu placement offsets and magnetic declination */
att.roll = euler[0] - ekf_params.roll_off;
att.pitch = euler[1] - ekf_params.pitch_off;
att.yaw = euler[2] + ekf_params.mag_decl - ekf_params.yaw_off;
att.roll = euler[0];
att.pitch = euler[1];
att.yaw = euler[2] + ekf_params.mag_decl;
att.rollspeed = x_aposteriori[0];
att.pitchspeed = x_aposteriori[1];

13
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
View File

@ -61,11 +61,6 @@ PARAM_DEFINE_FLOAT(EKF_ATT_V4_R2, 100.0f);
/* offset estimation - UNUSED */
PARAM_DEFINE_FLOAT(EKF_ATT_V4_R3, 0.0f);
/* offsets in roll, pitch and yaw of sensor plane and body */
PARAM_DEFINE_FLOAT(ATT_ROLL_OFF3, 0.0f);
PARAM_DEFINE_FLOAT(ATT_PITCH_OFF3, 0.0f);
PARAM_DEFINE_FLOAT(ATT_YAW_OFF3, 0.0f);
/* magnetic declination, in degrees */
PARAM_DEFINE_FLOAT(ATT_MAG_DECL, 0.0f);
@ -85,10 +80,6 @@ int parameters_init(struct attitude_estimator_ekf_param_handles *h)
h->r2 = param_find("EKF_ATT_V4_R2");
h->r3 = param_find("EKF_ATT_V4_R3");
h->roll_off = param_find("ATT_ROLL_OFF3");
h->pitch_off = param_find("ATT_PITCH_OFF3");
h->yaw_off = param_find("ATT_YAW_OFF3");
h->mag_decl = param_find("ATT_MAG_DECL");
h->acc_comp = param_find("ATT_ACC_COMP");
@ -109,10 +100,6 @@ int parameters_update(const struct attitude_estimator_ekf_param_handles *h, stru
param_get(h->r2, &(p->r[2]));
param_get(h->r3, &(p->r[3]));
param_get(h->roll_off, &(p->roll_off));
param_get(h->pitch_off, &(p->pitch_off));
param_get(h->yaw_off, &(p->yaw_off));
param_get(h->mag_decl, &(p->mag_decl));
p->mag_decl *= M_PI / 180.0f;

1
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h
View File

@ -54,7 +54,6 @@ struct attitude_estimator_ekf_params {
struct attitude_estimator_ekf_param_handles {
param_t r0, r1, r2, r3;
param_t q0, q1, q2, q3, q4;
param_t roll_off, pitch_off, yaw_off;
param_t mag_decl;
param_t acc_comp;
};