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Diffstat (limited to 'src/modules/attitude_estimator_so3/attitude_estimator_so3_params.c')
| -rwxr-xr-x | src/modules/attitude_estimator_so3/attitude_estimator_so3_params.c | 86 |
1 files changed, 86 insertions, 0 deletions
diff --git a/src/modules/attitude_estimator_so3/attitude_estimator_so3_params.c b/src/modules/attitude_estimator_so3/attitude_estimator_so3_params.c new file mode 100755 index 000000000..0c8d522b4 --- /dev/null +++ b/src/modules/attitude_estimator_so3/attitude_estimator_so3_params.c @@ -0,0 +1,86 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Author: Hyon Lim <limhyon@gmail.com> + * Anton Babushkin <anton.babushkin@me.com> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* + * @file attitude_estimator_so3_params.c + * + * Parameters for nonlinear complementary filters on the SO(3). + */ + +#include "attitude_estimator_so3_params.h" + +/* This is filter gain for nonlinear SO3 complementary filter */ +/* NOTE : How to tune the gain? First of all, stick with this default gain. And let the quad in stable place. + Log the steady state reponse of filter. If it is too slow, increase SO3_COMP_KP. + If you are flying from ground to high altitude in short amount of time, please increase SO3_COMP_KI which + will compensate gyro bias which depends on temperature and vibration of your vehicle */ +PARAM_DEFINE_FLOAT(SO3_COMP_KP, 1.0f); //! This parameter will give you about 15 seconds convergence time. + //! You can set this gain higher if you want more fast response. + //! But note that higher gain will give you also higher overshoot. +PARAM_DEFINE_FLOAT(SO3_COMP_KI, 0.05f); //! This gain will incorporate slow time-varying bias (e.g., temperature change) + //! This gain is depend on your vehicle status. + +/* offsets in roll, pitch and yaw of sensor plane and body */ +PARAM_DEFINE_FLOAT(SO3_ROLL_OFFS, 0.0f); +PARAM_DEFINE_FLOAT(SO3_PITCH_OFFS, 0.0f); +PARAM_DEFINE_FLOAT(SO3_YAW_OFFS, 0.0f); + +int parameters_init(struct attitude_estimator_so3_param_handles *h) +{ + /* Filter gain parameters */ + h->Kp = param_find("SO3_COMP_KP"); + h->Ki = param_find("SO3_COMP_KI"); + + /* Attitude offset (WARNING: Do not change if you do not know what exactly this variable wil lchange) */ + h->roll_off = param_find("SO3_ROLL_OFFS"); + h->pitch_off = param_find("SO3_PITCH_OFFS"); + h->yaw_off = param_find("SO3_YAW_OFFS"); + + return OK; +} + +int parameters_update(const struct attitude_estimator_so3_param_handles *h, struct attitude_estimator_so3_params *p) +{ + /* Update filter gain */ + param_get(h->Kp, &(p->Kp)); + param_get(h->Ki, &(p->Ki)); + + /* Update attitude offset */ + param_get(h->roll_off, &(p->roll_off)); + param_get(h->pitch_off, &(p->pitch_off)); + param_get(h->yaw_off, &(p->yaw_off)); + + return OK; +} |