mirror of
https://github.com/iNavFlight/inav.git
synced 2025-07-25 17:25:18 +03:00
Merge pull request #8767 from shota3527/ahrs_parameter_rename
ahrs parameter names change
This commit is contained in:
Paweł Spychalski
GitHub
commit
dad0c3da7b
3 changed files with 96 additions and 96 deletions
160
docs/Settings.md
160
docs/Settings.md
|
|
@ -182,6 +182,86 @@ Calculated value after '6 position avanced calibration'. See Wiki page.
|
|||
|
||||
---
|
||||
|
||||
### ahrs_acc_ignore_rate
|
||||
|
||||
Total gyro rotation rate threshold [deg/s] before scaling to consider accelerometer trustworthy
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| 15 | 0 | 30 |
|
||||
|
||||
---
|
||||
|
||||
### ahrs_acc_ignore_slope
|
||||
|
||||
Half-width of the interval to gradually reduce accelerometer weight. Centered at `imu_acc_ignore_rate` (exactly 50% weight)
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| 5 | 0 | 10 |
|
||||
|
||||
---
|
||||
|
||||
### ahrs_dcm_ki
|
||||
|
||||
Inertial Measurement Unit KI Gain for accelerometer measurements
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| 50 | | 65535 |
|
||||
|
||||
---
|
||||
|
||||
### ahrs_dcm_ki_mag
|
||||
|
||||
Inertial Measurement Unit KI Gain for compass measurements
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| 50 | | 65535 |
|
||||
|
||||
---
|
||||
|
||||
### ahrs_dcm_kp
|
||||
|
||||
Inertial Measurement Unit KP Gain for accelerometer measurements
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| 2000 | | 65535 |
|
||||
|
||||
---
|
||||
|
||||
### ahrs_dcm_kp_mag
|
||||
|
||||
Inertial Measurement Unit KP Gain for compass measurements
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| 2000 | | 65535 |
|
||||
|
||||
---
|
||||
|
||||
### ahrs_gps_yaw_windcomp
|
||||
|
||||
Wind compensation in heading estimation from gps groundcourse(fixed wing only)
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| ON | OFF | ON |
|
||||
|
||||
---
|
||||
|
||||
### ahrs_inertia_comp_method
|
||||
|
||||
Inertia force compensation method when gps is avaliable, VELNED use the accleration from gps, TURNRATE calculates accleration by turnrate multiplied by speed, ADAPTIVE choose best result from two in each ahrs loop
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| VELNED | | |
|
||||
|
||||
---
|
||||
|
||||
### airmode_throttle_threshold
|
||||
|
||||
Defines airmode THROTTLE activation threshold when `airmode_type` **THROTTLE_THRESHOLD** is used
|
||||
|
|
@ -1622,86 +1702,6 @@ Power draw at zero throttle used for remaining flight time/distance estimation i
|
|||
|
||||
---
|
||||
|
||||
### imu_acc_ignore_rate
|
||||
|
||||
Total gyro rotation rate threshold [deg/s] before scaling to consider accelerometer trustworthy
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| 15 | 0 | 30 |
|
||||
|
||||
---
|
||||
|
||||
### imu_acc_ignore_slope
|
||||
|
||||
Half-width of the interval to gradually reduce accelerometer weight. Centered at `imu_acc_ignore_rate` (exactly 50% weight)
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| 5 | 0 | 10 |
|
||||
|
||||
---
|
||||
|
||||
### imu_dcm_ki
|
||||
|
||||
Inertial Measurement Unit KI Gain for accelerometer measurements
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| 50 | | 65535 |
|
||||
|
||||
---
|
||||
|
||||
### imu_dcm_ki_mag
|
||||
|
||||
Inertial Measurement Unit KI Gain for compass measurements
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| 50 | | 65535 |
|
||||
|
||||
---
|
||||
|
||||
### imu_dcm_kp
|
||||
|
||||
Inertial Measurement Unit KP Gain for accelerometer measurements
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| 2000 | | 65535 |
|
||||
|
||||
---
|
||||
|
||||
### imu_dcm_kp_mag
|
||||
|
||||
Inertial Measurement Unit KP Gain for compass measurements
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| 2000 | | 65535 |
|
||||
|
||||
---
|
||||
|
||||
### imu_gps_yaw_windcomp
|
||||
|
||||
Wind compensation in heading estimation from gps groundcourse(fixed wing only)
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| ON | OFF | ON |
|
||||
|
||||
---
|
||||
|
||||
### imu_inertia_comp_method
|
||||
|
||||
Inertia force compensation method when gps is avaliable, VELNED use the accleration from gps, TURNRATE calculates accleration by turnrate multiplied by speed, ADAPTIVE choose best result from two in each ahrs loop
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
| VELNED | | |
|
||||
|
||||
---
|
||||
|
||||
### inav_allow_dead_reckoning
|
||||
|
||||
Defines if INAV will dead-reckon over short GPS outages. May also be useful for indoors OPFLOW navigation
|
||||
|
|
|
|||
|
|
@ -1393,22 +1393,22 @@ groups:
|
|||
type: imuConfig_t
|
||||
headers: ["flight/imu.h"]
|
||||
members:
|
||||
- name: imu_dcm_kp
|
||||
- name: ahrs_dcm_kp
|
||||
description: "Inertial Measurement Unit KP Gain for accelerometer measurements"
|
||||
default_value: 2000
|
||||
field: dcm_kp_acc
|
||||
max: UINT16_MAX
|
||||
- name: imu_dcm_ki
|
||||
- name: ahrs_dcm_ki
|
||||
description: "Inertial Measurement Unit KI Gain for accelerometer measurements"
|
||||
default_value: 50
|
||||
field: dcm_ki_acc
|
||||
max: UINT16_MAX
|
||||
- name: imu_dcm_kp_mag
|
||||
- name: ahrs_dcm_kp_mag
|
||||
description: "Inertial Measurement Unit KP Gain for compass measurements"
|
||||
default_value: 2000
|
||||
field: dcm_kp_mag
|
||||
max: UINT16_MAX
|
||||
- name: imu_dcm_ki_mag
|
||||
- name: ahrs_dcm_ki_mag
|
||||
description: "Inertial Measurement Unit KI Gain for compass measurements"
|
||||
default_value: 50
|
||||
field: dcm_ki_mag
|
||||
|
|
@ -1418,24 +1418,24 @@ groups:
|
|||
default_value: 25
|
||||
min: 0
|
||||
max: 180
|
||||
- name: imu_acc_ignore_rate
|
||||
- name: ahrs_acc_ignore_rate
|
||||
description: "Total gyro rotation rate threshold [deg/s] before scaling to consider accelerometer trustworthy"
|
||||
default_value: 15
|
||||
field: acc_ignore_rate
|
||||
min: 0
|
||||
max: 30
|
||||
- name: imu_acc_ignore_slope
|
||||
- name: ahrs_acc_ignore_slope
|
||||
description: "Half-width of the interval to gradually reduce accelerometer weight. Centered at `imu_acc_ignore_rate` (exactly 50% weight)"
|
||||
default_value: 5
|
||||
field: acc_ignore_slope
|
||||
min: 0
|
||||
max: 10
|
||||
- name: imu_gps_yaw_windcomp
|
||||
- name: ahrs_gps_yaw_windcomp
|
||||
description: "Wind compensation in heading estimation from gps groundcourse(fixed wing only)"
|
||||
default_value: ON
|
||||
field: gps_yaw_windcomp
|
||||
type: bool
|
||||
- name: imu_inertia_comp_method
|
||||
- name: ahrs_inertia_comp_method
|
||||
description: "Inertia force compensation method when gps is avaliable, VELNED use the accleration from gps, TURNRATE calculates accleration by turnrate multiplied by speed, ADAPTIVE choose best result from two in each ahrs loop"
|
||||
default_value: VELNED
|
||||
field: inertia_comp_method
|
||||
|
|
|
|||
|
|
@ -114,15 +114,15 @@ FASTRAM bool gpsHeadingInitialized;
|
|||
PG_REGISTER_WITH_RESET_TEMPLATE(imuConfig_t, imuConfig, PG_IMU_CONFIG, 2);
|
||||
|
||||
PG_RESET_TEMPLATE(imuConfig_t, imuConfig,
|
||||
.dcm_kp_acc = SETTING_IMU_DCM_KP_DEFAULT, // 0.20 * 10000
|
||||
.dcm_ki_acc = SETTING_IMU_DCM_KI_DEFAULT, // 0.005 * 10000
|
||||
.dcm_kp_mag = SETTING_IMU_DCM_KP_MAG_DEFAULT, // 0.20 * 10000
|
||||
.dcm_ki_mag = SETTING_IMU_DCM_KI_MAG_DEFAULT, // 0.005 * 10000
|
||||
.dcm_kp_acc = SETTING_AHRS_DCM_KP_DEFAULT, // 0.20 * 10000
|
||||
.dcm_ki_acc = SETTING_AHRS_DCM_KI_DEFAULT, // 0.005 * 10000
|
||||
.dcm_kp_mag = SETTING_AHRS_DCM_KP_MAG_DEFAULT, // 0.20 * 10000
|
||||
.dcm_ki_mag = SETTING_AHRS_DCM_KI_MAG_DEFAULT, // 0.005 * 10000
|
||||
.small_angle = SETTING_SMALL_ANGLE_DEFAULT,
|
||||
.acc_ignore_rate = SETTING_IMU_ACC_IGNORE_RATE_DEFAULT,
|
||||
.acc_ignore_slope = SETTING_IMU_ACC_IGNORE_SLOPE_DEFAULT,
|
||||
.gps_yaw_windcomp = 1,
|
||||
.inertia_comp_method = COMPMETHOD_VELNED
|
||||
.acc_ignore_rate = SETTING_AHRS_ACC_IGNORE_RATE_DEFAULT,
|
||||
.acc_ignore_slope = SETTING_AHRS_ACC_IGNORE_SLOPE_DEFAULT,
|
||||
.gps_yaw_windcomp = SETTING_AHRS_GPS_YAW_WINDCOMP_DEFAULT,
|
||||
.inertia_comp_method = SETTING_AHRS_INERTIA_COMP_METHOD_DEFAULT
|
||||
);
|
||||
|
||||
STATIC_UNIT_TESTED void imuComputeRotationMatrix(void)
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue