From e503c153617710452ec69c89c0d04b19cc710e7b Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 4 Sep 2012 21:16:39 +0200 Subject: 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 --- apps/px4/attitude_estimator_bm/attitude_bm.c | 18 +++++++++--------- apps/px4/attitude_estimator_bm/attitude_estimator_bm.c | 6 +++--- 2 files changed, 12 insertions(+), 12 deletions(-) (limited to 'apps/px4') 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; -- cgit v1.2.3