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author | Anton Babushkin <anton.babushkin@me.com> | 2013-11-22 22:23:27 +0400 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2013-11-22 22:23:27 +0400 |
commit | 8c3e67993e2aa5e434ad1273889ce8f321fb1908 (patch) | |
tree | 6c1cdfa4c88625fdb650dff588be4f6d45e6c92a /src | |
parent | e4f0c7d26a9d2d04bc1cc63bd19013e00c5302ca (diff) | |
download | px4-firmware-8c3e67993e2aa5e434ad1273889ce8f321fb1908.tar.gz px4-firmware-8c3e67993e2aa5e434ad1273889ce8f321fb1908.tar.bz2 px4-firmware-8c3e67993e2aa5e434ad1273889ce8f321fb1908.zip |
position_estimator_inav: don’t use GPS vertical speed
Diffstat (limited to 'src')
3 files changed, 0 insertions, 8 deletions
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c index 5be59f965..d95de11c4 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -656,7 +656,6 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) float w_xy_gps_p = params.w_xy_gps_p * w_gps_xy; float w_xy_gps_v = params.w_xy_gps_v * w_gps_xy; float w_z_gps_p = params.w_z_gps_p * w_gps_z; - float w_z_gps_v = params.w_z_gps_v * w_gps_z; /* reduce GPS weight if optical flow is good */ if (use_flow && flow_accurate) { @@ -682,7 +681,6 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) } if (use_gps_z) { accel_bias_corr[2] -= corr_gps[2][0] * w_z_gps_p * w_z_gps_p; - accel_bias_corr[2] -= corr_gps[2][1] * w_z_gps_v; } if (use_flow) { @@ -709,7 +707,6 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) /* inertial filter correction for altitude */ inertial_filter_correct(corr_baro, dt, z_est, 0, params.w_z_baro); inertial_filter_correct(corr_gps[2][0], dt, z_est, 0, w_z_gps_p); - inertial_filter_correct(corr_gps[2][1], dt, z_est, 1, w_z_gps_v); inertial_filter_correct(corr_acc[2], dt, z_est, 2, params.w_z_acc); if (can_estimate_xy) { diff --git a/src/modules/position_estimator_inav/position_estimator_inav_params.c b/src/modules/position_estimator_inav/position_estimator_inav_params.c index 77299bd71..da4c9482c 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_params.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_params.c @@ -42,7 +42,6 @@ PARAM_DEFINE_FLOAT(INAV_W_Z_BARO, 1.0f); PARAM_DEFINE_FLOAT(INAV_W_Z_GPS_P, 0.5f); -PARAM_DEFINE_FLOAT(INAV_W_Z_GPS_V, 1.0f); PARAM_DEFINE_FLOAT(INAV_W_Z_ACC, 20.0f); PARAM_DEFINE_FLOAT(INAV_W_Z_SONAR, 3.0f); PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_P, 1.0f); @@ -63,7 +62,6 @@ int parameters_init(struct position_estimator_inav_param_handles *h) { h->w_z_baro = param_find("INAV_W_Z_BARO"); h->w_z_gps_p = param_find("INAV_W_Z_GPS_P"); - h->w_z_gps_v = param_find("INAV_W_Z_GPS_V"); h->w_z_acc = param_find("INAV_W_Z_ACC"); h->w_z_sonar = param_find("INAV_W_Z_SONAR"); h->w_xy_gps_p = param_find("INAV_W_XY_GPS_P"); @@ -87,7 +85,6 @@ int parameters_update(const struct position_estimator_inav_param_handles *h, str { param_get(h->w_z_baro, &(p->w_z_baro)); param_get(h->w_z_gps_p, &(p->w_z_gps_p)); - param_get(h->w_z_gps_v, &(p->w_z_gps_v)); param_get(h->w_z_acc, &(p->w_z_acc)); param_get(h->w_z_sonar, &(p->w_z_sonar)); param_get(h->w_xy_gps_p, &(p->w_xy_gps_p)); diff --git a/src/modules/position_estimator_inav/position_estimator_inav_params.h b/src/modules/position_estimator_inav/position_estimator_inav_params.h index f583f4b7d..e2be079d3 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_params.h +++ b/src/modules/position_estimator_inav/position_estimator_inav_params.h @@ -43,7 +43,6 @@ struct position_estimator_inav_params { float w_z_baro; float w_z_gps_p; - float w_z_gps_v; float w_z_acc; float w_z_sonar; float w_xy_gps_p; @@ -64,7 +63,6 @@ struct position_estimator_inav_params { struct position_estimator_inav_param_handles { param_t w_z_baro; param_t w_z_gps_p; - param_t w_z_gps_v; param_t w_z_acc; param_t w_z_sonar; param_t w_xy_gps_p; |