From c3944f49b13a7a85b8505faeb7085765887d9287 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Thu, 7 Nov 2013 20:17:12 +0400 Subject: position_estimator_inav: minor baro offset changes --- .../position_estimator_inav_main.c | 15 ++++++++------- 1 file changed, 8 insertions(+), 7 deletions(-) (limited to 'src/modules/position_estimator_inav/position_estimator_inav_main.c') 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 8f4f9e080..5be59f965 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -312,7 +312,6 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) } else { wait_baro = false; baro_offset /= (float) baro_init_cnt; - corr_baro = -baro_offset; warnx("baro offs: %.2f", baro_offset); mavlink_log_info(mavlink_fd, "[inav] baro offs: %.2f", baro_offset); local_pos.z_valid = true; @@ -369,11 +368,11 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) if (updated) { orb_copy(ORB_ID(actuator_armed), armed_sub, &armed); - /* reset ground level on arm if sonar is invalid */ + /* reset ground level on arm */ if (armed.armed && !flag_armed) { flag_armed = armed.armed; baro_offset -= z_est[0]; - corr_baro = -baro_offset; + corr_baro = 0.0f; local_pos.ref_alt -= z_est[0]; local_pos.ref_timestamp = t; z_est[0] = 0.0f; @@ -416,7 +415,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) } if (sensor.baro_counter > baro_counter) { - corr_baro = - sensor.baro_alt_meter - z_est[0]; + corr_baro = baro_offset - sensor.baro_alt_meter - z_est[0]; baro_counter = sensor.baro_counter; baro_updates++; } @@ -667,7 +666,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) /* baro offset correction */ if (use_gps_z) { - baro_offset += corr_gps[2][0] * w_z_gps_p * dt; + float offs_corr = corr_gps[2][0] * w_z_gps_p * dt; + baro_offset += offs_corr; + baro_counter += offs_corr; } /* accelerometer bias correction */ @@ -689,7 +690,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) accel_bias_corr[1] -= corr_flow[1] * params.w_xy_flow; } - accel_bias_corr[2] -= (corr_baro + baro_offset) * params.w_z_baro * params.w_z_baro; + accel_bias_corr[2] -= corr_baro * params.w_z_baro * params.w_z_baro; /* transform error vector from NED frame to body frame */ for (int i = 0; i < 3; i++) { @@ -706,7 +707,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) inertial_filter_predict(dt, z_est); /* inertial filter correction for altitude */ - inertial_filter_correct(corr_baro + baro_offset, dt, z_est, 0, params.w_z_baro); + 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); -- cgit v1.2.3