From a30a5d2665d3d0f68262d7de68aa5d4086a42321 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Fri, 25 Jul 2014 14:27:49 +0200 Subject: update attitude_estimator_ekf, includes matlab This adds the latest c implementation (matlab coder) of attitude_estimator_ekf, the .m matlab script and the .prj file with the settings to export the matlab code to c --- .../attitude_estimator_ekf_params.c | 41 ++++++++++++++++++---- 1 file changed, 34 insertions(+), 7 deletions(-) (limited to 'src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c') diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c index bc0e3b93a..5b57bfb4d 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c @@ -50,7 +50,6 @@ PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q1, 0.08f); PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q2, 0.009f); /* gyro offsets process noise */ PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q3, 0.005f); -PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q4, 0.0f); /* gyro measurement noise */ PARAM_DEFINE_FLOAT(EKF_ATT_V4_R0, 0.0008f); @@ -58,14 +57,38 @@ PARAM_DEFINE_FLOAT(EKF_ATT_V4_R0, 0.0008f); PARAM_DEFINE_FLOAT(EKF_ATT_V4_R1, 10000.0f); /* mag measurement noise */ PARAM_DEFINE_FLOAT(EKF_ATT_V4_R2, 100.0f); -/* offset estimation - UNUSED */ -PARAM_DEFINE_FLOAT(EKF_ATT_V4_R3, 0.0f); /* magnetic declination, in degrees */ PARAM_DEFINE_FLOAT(ATT_MAG_DECL, 0.0f); PARAM_DEFINE_INT32(ATT_ACC_COMP, 2); +/* + * Moment of inertia matrix diagonal entry (1, 1) + * + * @group attitude_ekf + * @unit kg*m^2 + */ +PARAM_DEFINE_FLOAT(ATT_J11, 0.0018); + +/* + * Moment of inertia matrix diagonal entry (2, 2) + * + * @group attitude_ekf + * @unit kg*m^2 + */ +PARAM_DEFINE_FLOAT(ATT_J22, 0.0018); + + +/* + * Moment of inertia matrix diagonal entry (3, 3) + * + * @group attitude_ekf + * @unit kg*m^2 + */ +PARAM_DEFINE_FLOAT(ATT_J33, 0.0037); + + int parameters_init(struct attitude_estimator_ekf_param_handles *h) { /* PID parameters */ @@ -73,17 +96,19 @@ int parameters_init(struct attitude_estimator_ekf_param_handles *h) h->q1 = param_find("EKF_ATT_V3_Q1"); h->q2 = param_find("EKF_ATT_V3_Q2"); h->q3 = param_find("EKF_ATT_V3_Q3"); - h->q4 = param_find("EKF_ATT_V3_Q4"); h->r0 = param_find("EKF_ATT_V4_R0"); h->r1 = param_find("EKF_ATT_V4_R1"); h->r2 = param_find("EKF_ATT_V4_R2"); - h->r3 = param_find("EKF_ATT_V4_R3"); h->mag_decl = param_find("ATT_MAG_DECL"); h->acc_comp = param_find("ATT_ACC_COMP"); + h->moment_inertia_J[0] = param_find("ATT_J11"); + h->moment_inertia_J[1] = param_find("ATT_J22"); + h->moment_inertia_J[2] = param_find("ATT_J33"); + return OK; } @@ -93,17 +118,19 @@ int parameters_update(const struct attitude_estimator_ekf_param_handles *h, stru param_get(h->q1, &(p->q[1])); param_get(h->q2, &(p->q[2])); param_get(h->q3, &(p->q[3])); - param_get(h->q4, &(p->q[4])); param_get(h->r0, &(p->r[0])); param_get(h->r1, &(p->r[1])); param_get(h->r2, &(p->r[2])); - param_get(h->r3, &(p->r[3])); param_get(h->mag_decl, &(p->mag_decl)); p->mag_decl *= M_PI_F / 180.0f; param_get(h->acc_comp, &(p->acc_comp)); + for (int i = 0; i < 3; i++) { + param_get(h->moment_inertia_J[i], &(p->moment_inertia_J[3 * i + i])); + } + return OK; } -- cgit v1.2.3