From dada0b85998ac46a5b447e13a0c2f54819d07360 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Fri, 22 Nov 2013 21:44:37 +0400 Subject: attitude_estimator_ekf: mag declination parameter implemented --- .../attitude_estimator_ekf_main.cpp | 22 ++++++++++++++++------ .../attitude_estimator_ekf_params.c | 7 +++++++ .../attitude_estimator_ekf_params.h | 2 ++ 3 files changed, 25 insertions(+), 6 deletions(-) (limited to 'src/modules/attitude_estimator_ekf') diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp index a70a14fe4..983ac7c8d 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp @@ -61,6 +61,8 @@ #include #include +#include + #include #include #include @@ -433,10 +435,9 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds /* send out */ att.timestamp = raw.timestamp; - // XXX Apply the same transformation to the rotation matrix - att.roll = euler[0] - ekf_params.roll_off; - att.pitch = euler[1] - ekf_params.pitch_off; - att.yaw = euler[2] - ekf_params.yaw_off; + att.roll = euler[0]; + att.pitch = euler[1]; + att.yaw = euler[2] + ekf_params.mag_decl; att.rollspeed = x_aposteriori[0]; att.pitchspeed = x_aposteriori[1]; @@ -445,12 +446,21 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds att.pitchacc = x_aposteriori[4]; att.yawacc = x_aposteriori[5]; - //att.yawspeed =z_k[2] ; /* copy offsets */ memcpy(&att.rate_offsets, &(x_aposteriori[3]), sizeof(att.rate_offsets)); + /* magnetic declination */ + math::EulerAngles eulerMagDecl(0.0f, 0.0f, ekf_params.mag_decl); + math::Dcm R(eulerMagDecl); + math::Dcm R_body(&Rot_matrix[0]); + R = R * R_body; + /* copy rotation matrix */ - memcpy(&att.R, Rot_matrix, sizeof(Rot_matrix)); + for (int i = 0; i < 3; i++) { + for (int j = 0; j < 3; j++) { + att.R[i][j] = R(i, j); + } + } att.R_valid = true; if (isfinite(att.roll) && isfinite(att.pitch) && isfinite(att.yaw)) { 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 52dac652b..a6a40b4a1 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c @@ -63,6 +63,9 @@ PARAM_DEFINE_FLOAT(ATT_ROLL_OFF3, 0.0f); PARAM_DEFINE_FLOAT(ATT_PITCH_OFF3, 0.0f); PARAM_DEFINE_FLOAT(ATT_YAW_OFF3, 0.0f); +/* magnetic declination, in degrees */ +PARAM_DEFINE_FLOAT(ATT_MAG_DECL, 0.0f); + int parameters_init(struct attitude_estimator_ekf_param_handles *h) { /* PID parameters */ @@ -81,6 +84,8 @@ int parameters_init(struct attitude_estimator_ekf_param_handles *h) h->pitch_off = param_find("ATT_PITCH_OFF3"); h->yaw_off = param_find("ATT_YAW_OFF3"); + h->mag_decl = param_find("ATT_MAG_DECL"); + return OK; } @@ -101,5 +106,7 @@ int parameters_update(const struct attitude_estimator_ekf_param_handles *h, stru param_get(h->pitch_off, &(p->pitch_off)); param_get(h->yaw_off, &(p->yaw_off)); + param_get(h->mag_decl, &(p->mag_decl)); + return OK; } diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h index 09817d58e..b4b3ca50d 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h @@ -47,12 +47,14 @@ struct attitude_estimator_ekf_params { float roll_off; float pitch_off; float yaw_off; + float mag_decl; }; struct attitude_estimator_ekf_param_handles { param_t r0, r1, r2, r3; param_t q0, q1, q2, q3, q4; param_t roll_off, pitch_off, yaw_off; + param_t mag_decl; }; /** -- cgit v1.2.3