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Disable rate control, disable offset estimation

sbg
Lorenz Meier 13 years ago
parent
d62ec78ab8
commit
4dbf7befe3
2 changed files with 10 additions and 9 deletions
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  1. 7
      apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
  2. 12
      apps/commander/state_machine_helper.c

7
apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
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@ -418,9 +418,10 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[]) @@ -418,9 +418,10 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
att.pitch = euler[1];
att.yaw = euler[2];
att.rollspeed = x_aposteriori[0];
att.pitchspeed = x_aposteriori[1];
att.yawspeed = x_aposteriori[2];
// XXX replace with x_apo after fix to filter
att.rollspeed = raw.gyro_rad_s[0]; //x_aposteriori[0];
att.pitchspeed = raw.gyro_rad_s[1]; //x_aposteriori[1];
att.yawspeed = raw.gyro_rad_s[2]; //x_aposteriori[2];
/* copy offsets */
memcpy(&att.rate_offsets, &(x_aposteriori[3]), sizeof(att.rate_offsets));

12
apps/commander/state_machine_helper.c
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@ -501,10 +501,10 @@ void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *c @@ -501,10 +501,10 @@ void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *c
{
int old_mode = current_status->flight_mode;
current_status->flight_mode = VEHICLE_FLIGHT_MODE_MANUAL;
current_status->flag_control_manual_enabled = true; //XXX
current_status->flag_control_manual_enabled = true;
/* enable attitude control per default */
current_status->flag_control_attitude_enabled = true;
current_status->flag_control_rates_enabled = true;
current_status->flag_control_rates_enabled = false; // XXX
if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_STABILIZED || current_status->state_machine == SYSTEM_STATE_AUTO) {
@ -517,9 +517,9 @@ void update_state_machine_mode_stabilized(int status_pub, struct vehicle_status_ @@ -517,9 +517,9 @@ void update_state_machine_mode_stabilized(int status_pub, struct vehicle_status_
{
int old_mode = current_status->flight_mode;
current_status->flight_mode = VEHICLE_FLIGHT_MODE_STABILIZED;
current_status->flag_control_manual_enabled = true; //XXX
current_status->flag_control_manual_enabled = true;
current_status->flag_control_attitude_enabled = true;
current_status->flag_control_rates_enabled = true;
current_status->flag_control_rates_enabled = false; // XXX
if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_AUTO) {
@ -532,9 +532,9 @@ void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *cur @@ -532,9 +532,9 @@ void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *cur
{
int old_mode = current_status->flight_mode;
current_status->flight_mode = VEHICLE_FLIGHT_MODE_AUTO;
current_status->flag_control_manual_enabled = true; //XXX
current_status->flag_control_manual_enabled = true;
current_status->flag_control_attitude_enabled = true;
current_status->flag_control_rates_enabled = true;
current_status->flag_control_rates_enabled = false; // XXX
if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_STABILIZED) {

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