From b29d13347a10156bf1690b67938e2850d4e1e4c5 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Mon, 26 Aug 2013 22:08:56 +0200 Subject: position_estimator_inav: reset reference altitude on arming. --- .../position_estimator_inav_main.c | 22 ++++++++++++++++------ 1 file changed, 16 insertions(+), 6 deletions(-) (limited to 'src') 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 bc6e0b020..ef13ade88 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -75,8 +75,11 @@ static bool thread_should_exit = false; /**< Deamon exit flag */ static bool thread_running = false; /**< Deamon status flag */ static int position_estimator_inav_task; /**< Handle of deamon task / thread */ static bool verbose_mode = false; -static hrt_abstime gps_timeout = 1000000; // GPS timeout = 1s -static hrt_abstime flow_timeout = 1000000; // optical flow timeout = 1s + +static const hrt_abstime gps_timeout = 1000000; // GPS timeout = 1s +static const hrt_abstime flow_timeout = 1000000; // optical flow timeout = 1s +static const uint32_t updates_counter_len = 1000000; +static const uint32_t pub_interval = 4000; // limit publish rate to 250 Hz __EXPORT int position_estimator_inav_main(int argc, char *argv[]); @@ -172,6 +175,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) float alt_avg = 0.0f; bool landed = true; hrt_abstime landed_time = 0; + bool flag_armed = false; uint32_t accel_counter = 0; uint32_t baro_counter = 0; @@ -275,10 +279,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) uint16_t flow_updates = 0; hrt_abstime updates_counter_start = hrt_absolute_time(); - uint32_t updates_counter_len = 1000000; - hrt_abstime pub_last = hrt_absolute_time(); - uint32_t pub_interval = 4000; // limit publish rate to 250 Hz /* acceleration in NED frame */ float accel_NED[3] = { 0.0f, 0.0f, -CONSTANTS_ONE_G }; @@ -407,7 +408,6 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) } else { // new ground level baro_alt0 += sonar_corr; - warnx("new home: alt = %.3f", baro_alt0); mavlink_log_info(mavlink_fd, "[inav] new home: alt = %.3f", baro_alt0); local_pos.ref_alt = baro_alt0; local_pos.ref_timestamp = hrt_absolute_time(); @@ -486,6 +486,15 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) float dt = t_prev > 0 ? (t - t_prev) / 1000000.0f : 0.0f; t_prev = t; + /* reset ground level on arm */ + if (armed.armed && !flag_armed) { + baro_alt0 -= z_est[0]; + z_est[0] = 0.0f; + local_pos.ref_alt = baro_alt0; + local_pos.ref_timestamp = hrt_absolute_time(); + mavlink_log_info(mavlink_fd, "[inav] new home on arm: alt = %.3f", baro_alt0); + } + /* accel bias correction, now only for Z * not strictly correct, but stable and works */ accel_bias[2] += (accel_NED[2] + CONSTANTS_ONE_G) * params.w_acc_bias * dt; @@ -629,6 +638,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) orb_publish(ORB_ID(vehicle_global_position), vehicle_global_position_pub, &global_pos); } + flag_armed = armed.armed; } warnx("exiting."); -- cgit v1.2.3