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Merge pull request #1238 from iNavFlight/imu-remove-acc-weighting

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Remove accelerometer weighting for attitude estimation
This commit is contained in:
Konstantin Sharlaimov 2017-02-08 18:39:03 +10:00 • committed by GitHub
commit bfd2050731
1 changed files with 12 additions and 17 deletions
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29
src/main/flight/imu.c
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@ -281,7 +281,7 @@ static void imuCheckAndResetOrientationQuaternion(const float ax, const float ay
}
static void imuMahonyAHRSupdate(float dt, float gx, float gy, float gz,
int accWeight, float ax, float ay, float az,
bool useAcc, float ax, float ay, float az,
bool useMag, float mx, float my, float mz,
bool useCOG, float courseOverGround)
{
@ -366,7 +366,7 @@ static void imuMahonyAHRSupdate(float dt, float gx, float gy, float gz,
/* Step 2: Roll and pitch correction - use measured acceleration vector */
if (accWeight > 0) {
if (useAcc) {
float kpAcc = imuRuntimeConfig.dcm_kp_acc * imuGetPGainScaleFactor();
// Just scale by 1G length - That's our vector adjustment. Rather than
@ -377,12 +377,10 @@ static void imuMahonyAHRSupdate(float dt, float gx, float gy, float gz,
ay *= (1.0f / GRAVITY_CMSS);
az *= (1.0f / GRAVITY_CMSS);
const float fAccWeightScaler = accWeight / (float)MAX_ACC_SQ_NEARNESS;
// Error is sum of cross product between estimated direction and measured direction of gravity
ex = (ay * rMat[2][2] - az * rMat[2][1]) * fAccWeightScaler;
ey = (az * rMat[2][0] - ax * rMat[2][2]) * fAccWeightScaler;
ez = (ax * rMat[2][1] - ay * rMat[2][0]) * fAccWeightScaler;
ex = (ay * rMat[2][2] - az * rMat[2][1]);
ey = (az * rMat[2][0] - ax * rMat[2][2]);
ez = (ax * rMat[2][1] - ay * rMat[2][0]);
// Compute and apply integral feedback if enabled
if(imuRuntimeConfig.dcm_ki_acc > 0.0f) {
@ -449,22 +447,19 @@ STATIC_UNIT_TESTED void imuUpdateEulerAngles(void)
}
}
// Idea by MasterZap
static int imuCalculateAccelerometerConfidence(void)
static bool imuCanUseAccelerometerForCorrection(void)
{
int32_t axis;
int32_t accMagnitude = 0;
int32_t accMagnitudeSq = 0;
for (axis = 0; axis < 3; axis++) {
accMagnitude += (int32_t)acc.accADC[axis] * acc.accADC[axis];
accMagnitudeSq += (int32_t)acc.accADC[axis] * acc.accADC[axis];
}
// Magnitude^2 in percent of G^2
accMagnitude = accMagnitude * 100 / ((int32_t)acc.dev.acc_1G * acc.dev.acc_1G);
const int nearness = ABS(100 - (accMagnitudeSq * 100 / ((int32_t)acc.dev.acc_1G * acc.dev.acc_1G)));
int32_t nearness = ABS(100 - accMagnitude);
return (nearness > MAX_ACC_SQ_NEARNESS) ? 0 : MAX_ACC_SQ_NEARNESS - nearness;
return (nearness > MAX_ACC_SQ_NEARNESS) ? false : true;
}
static void imuCalculateEstimatedAttitude(float dT)
@ -475,7 +470,7 @@ static void imuCalculateEstimatedAttitude(float dT)
const bool canUseMAG = false;
#endif
const int accWeight = imuCalculateAccelerometerConfidence();
const bool useAcc = imuCanUseAccelerometerForCorrection();
float courseOverGround = 0;
bool useMag = false;
@ -523,7 +518,7 @@ static void imuCalculateEstimatedAttitude(float dT)
#endif
imuMahonyAHRSupdate(dT, imuMeasuredRotationBF.A[X], imuMeasuredRotationBF.A[Y], imuMeasuredRotationBF.A[Z],
accWeight, imuMeasuredGravityBF.A[X], imuMeasuredGravityBF.A[Y], imuMeasuredGravityBF.A[Z],
useAcc, imuMeasuredGravityBF.A[X], imuMeasuredGravityBF.A[Y], imuMeasuredGravityBF.A[Z],
useMag, mag.magADC[X], mag.magADC[Y], mag.magADC[Z],
useCOG, courseOverGround);