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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-04 21:16:39 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-04 21:16:39 +0200 |
| commit | e503c153617710452ec69c89c0d04b19cc710e7b (patch) | |
| tree | d39448c73f22ab47c05acbc6271c3c4f18d18fb6 /apps/px4 | |
| parent | 62682d805ec234ecb4f5396ca2c7a072ce3f753c (diff) | |
| download | px4-firmware-e503c153617710452ec69c89c0d04b19cc710e7b.tar.gz px4-firmware-e503c153617710452ec69c89c0d04b19cc710e7b.tar.bz2 px4-firmware-e503c153617710452ec69c89c0d04b19cc710e7b.zip | |
Checkpoint - this is worth an AR.Drone flight test. Fixed thrust scaling in sensors for manual input, kind of fixed AR.Drone motor interface, very reliable now
Diffstat (limited to 'apps/px4')
| -rw-r--r-- | apps/px4/attitude_estimator_bm/attitude_bm.c | 18 | ||||
| -rw-r--r-- | apps/px4/attitude_estimator_bm/attitude_estimator_bm.c | 6 |
2 files changed, 12 insertions, 12 deletions
diff --git a/apps/px4/attitude_estimator_bm/attitude_bm.c b/apps/px4/attitude_estimator_bm/attitude_bm.c index 29908ddd5..8face5aea 100644 --- a/apps/px4/attitude_estimator_bm/attitude_bm.c +++ b/apps/px4/attitude_estimator_bm/attitude_bm.c @@ -147,18 +147,18 @@ void attitude_blackmagic_init(void) // }; static m_elem kal_gain[12 * 9] = { - 0.001f , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0, - 0 , 0.001f , 0 , 0 , 0 , 0 , 0 , 0 , 0, - 0 , 0 , 0.001f , 0 , 0 , 0 , 0 , 0 , 0, - 0 , 0 , 0 , 0.015f, 0 , 0 , 0 , 0 , 0, - 0 , 0 , 0 , 0 , 0.015f, 0 , 0 , 0 , 0, - 0 , 0 , 0 , 0 , 0 , 0.015f, 0 , 0 , 0, + 0.0007f , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0, + 0 , 0.0007f , 0 , 0 , 0 , 0 , 0 , 0 , 0, + 0 , 0 , 0.0007f , 0 , 0 , 0 , 0 , 0 , 0, + 0 , 0 , 0 , 0.01f, 0 , 0 , 0 , 0 , 0, + 0 , 0 , 0 , 0 , 0.01f, 0 , 0 , 0 , 0, + 0 , 0 , 0 , 0 , 0 , 0.01f, 0 , 0 , 0, 0.0000f , +0.00002f, 0 , 0 , 0, 0, 0, 0 , 0, -0.00002f, 0 , 0 , 0 , 0, 0, 0, 0, 0, 0, 0 , 0 , 0, 0, 0, 0, 0, 0, - 0 , 0 , 0 , 0 , 0 , 0 , 0.6f , 0 , 0, - 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0.6f , 0, - 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0.6f + 0 , 0 , 0 , 0 , 0 , 0 , 0.4f , 0 , 0, + 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0.4f , 0, + 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0.4f }; //offset update only correct if not upside down. diff --git a/apps/px4/attitude_estimator_bm/attitude_estimator_bm.c b/apps/px4/attitude_estimator_bm/attitude_estimator_bm.c index 1174a7524..0f6b6044f 100644 --- a/apps/px4/attitude_estimator_bm/attitude_estimator_bm.c +++ b/apps/px4/attitude_estimator_bm/attitude_estimator_bm.c @@ -87,9 +87,9 @@ int attitude_estimator_bm_update(struct sensor_combined_s *raw, float_vect3 *eul gyro_values.z = raw->gyro_rad_s[2]; float_vect3 accel_values; - accel_values.x = (raw->accelerometer_m_s2[0] / 9.81f) * 120; - accel_values.y = (raw->accelerometer_m_s2[1] / 9.81f) * 120; - accel_values.z = (raw->accelerometer_m_s2[2] / 9.81f) * 120; + accel_values.x = (raw->accelerometer_m_s2[0] / 9.81f) * 100; + accel_values.y = (raw->accelerometer_m_s2[1] / 9.81f) * 100; + accel_values.z = (raw->accelerometer_m_s2[2] / 9.81f) * 100; float_vect3 mag_values; mag_values.x = raw->magnetometer_ga[0]*1500.0f; |