气压计温度校准测试

ArduCopter/Parameters.cpp

@@ -1671,7 +1671,7 @@ const char* Copter::get_sysid_board_id(void)
             snprintf(buf, sizeof(buf),  "Version: zr-v4.0.8 ,ID: M660%04d%05d",(int)nameValue1,(int)nameValue2);
             break;
         case 2:
-            snprintf(buf, sizeof(buf),  "Version: zr-v4.0.8 ,ID: RF610%04d%05d",(int)nameValue1,(int)nameValue2);
+            snprintf(buf, sizeof(buf),  "Version: zr-v4.0.8 ,ID: M610%04d%05d",(int)nameValue1,(int)nameValue2);
             break;
         case 3:
             snprintf(buf, sizeof(buf),  "Version: zr-v4.0.8 ,Board ID: ZRZK.20QT2.%d",(int)nameValue2);

ArduCopter/version.h

@@ -6,7 +6,7 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ZRUAV v4.0.8-RC7"  //"ArduCopter V4.0.0"
+#define THISFIRMWARE "ZRUAV v4.0.8-RC9"  //"ArduCopter V4.0.0"
 
 // the following line is parsed by the autotest scripts
 #define FIRMWARE_VERSION 4,0,8,FIRMWARE_VERSION_TYPE_OFFICIAL

hexa-zrv4.sh

@@ -1,3 +1,3 @@
 ./waf configure --board zr-hexa
 ./waf --targets bin/arducopter --upload
-sudo cp ./build/zr-hexa/bin/arducopter.apj /mnt/f/_01-work/100=data/固件/zr-v4/六轴_v4.0.8-rc8.px4
+cp ./build/zr-hexa/bin/arducopter.apj /mnt/f/_01-work/100=data/固件/zr-v4/dev-六轴_v4.0.8-rc8.px4

libraries/AP_HAL_ChibiOS/hwdef/zr-hexa/defaults.parm

@@ -71,6 +71,7 @@ BATT_MONITOR 4
 BATT_SERIAL_NUM -1
 BATT_VOLT_PIN 0
 
+BRD_BOOT_DELAY 1000
 BRD_PWM_COUNT 0
 BRD_RTC_TYPES 1
 BRD_RTC_TZ_MIN 0
@@ -268,6 +269,7 @@ SERIAL6_PROTOCOL -1
 SERIAL7_BAUD 115200
 SERIAL7_OPTIONS 0
 SERIAL7_PROTOCOL 2
+SYSID_TYPE 2
 WP_YAW_BEHAVIOR 1
 WPNAV_ACCEL 100
 WPNAV_ACCEL_Z 100

libraries/AP_RangeFinder/AP_RangeFinder_Benewake.cpp

@@ -120,6 +120,11 @@ bool AP_RangeFinder_Benewake::get_reading(uint16_t &reading_cm)
                 }
                 // if checksum matches extract contents
                 if (checksum == linebuf[BENEWAKE_FRAME_LENGTH-1]) {
+
+                    // uint16_t strength = ((uint16_t)linebuf[5] << 8) | linebuf[4];
+                    // if(strength < 100 || strength == 0xFFFF){
+                    //     return false;
+                    // }
                     // calculate distance
                     uint16_t dist = ((uint16_t)linebuf[3] << 8) | linebuf[2];
                     if (dist >= BENEWAKE_DIST_MAX_CM) {

libraries/AP_TempCalibration/AP_TempCalibration.cpp

@@ -19,6 +19,7 @@
 #include "AP_TempCalibration.h"
 #include <stdio.h>
 #include <AP_Baro/AP_Baro.h>
+#include <GCS_MAVLink/GCS.h>
 
 extern const AP_HAL::HAL& hal;
 
@@ -135,6 +136,7 @@ void AP_TempCalibration::calculate_calibration(void)
     float current_err = calculate_p_range(baro_exponent);
     float test_exponent = baro_exponent + learn_delta;
     float test_err = calculate_p_range(test_exponent);
+    static float last_err = 0;
     if (test_err >= current_err) {
         test_exponent = baro_exponent - learn_delta;
         test_err = calculate_p_range(test_exponent);
@@ -149,6 +151,12 @@ void AP_TempCalibration::calculate_calibration(void)
         }
         temp_min.set_and_save_ifchanged(learn_temp_start);
         temp_max.set_and_save_ifchanged(learn_temp_start + learn_i*learn_temp_step);
+
+        gcs().send_text(MAV_SEVERITY_INFO, "---CAL: %.2f, %.2f\n", test_exponent,baro_exponent);
+    }
+    if(fabs(last_err - current_err) > 0.01){
+        gcs().send_text(MAV_SEVERITY_INFO, "CAL: %.2f, %.2f,%d, %d,%.2f,%.2f\n", test_exponent,baro_exponent,temp_min,temp_max,current_err,test_err);
+        last_err = current_err;
     }
 }
 
@@ -176,7 +184,15 @@ void AP_TempCalibration::learn_calibration(void)
     }
     float temp = baro.get_temperature(0);
     float P = baro.get_pressure(0);
+    static float last_temp;
+    static uint16_t last_idx;
     uint16_t idx = (temp - learn_temp_start) / learn_temp_step;
+        // gcs().send_text(MAV_SEVERITY_INFO, "learning %u %.2f at %.2f", idx, learn_values[idx], temp);
+    if((last_idx != idx || fabs(last_temp - temp)> 1.0) && !is_zero(learn_values[idx]) ){
+        gcs().send_text(MAV_SEVERITY_INFO, "learning, %u, %.2f, at, %.2f", idx, learn_values[idx], temp);
+        last_idx = idx;
+        last_temp = temp;
+    }
     if (idx >= learn_count) {
         // could change learn_temp_step here
         return;
@@ -191,7 +207,7 @@ void AP_TempCalibration::learn_calibration(void)
     learn_i = MAX(learn_i, idx);
     
     uint32_t now = AP_HAL::millis();
-    if (now - last_learn_ms > 100 &&
+    if (now - last_learn_ms > 500 &&
         idx*learn_temp_step > min_learn_temp_range &&
         temp - learn_temp_start > temp_max - temp_min) {
         last_learn_ms = now;

libraries/AP_TempCalibration/AP_TempCalibration.h

@@ -62,7 +62,7 @@ private:
     uint32_t last_learn_ms;
 
     // temperature at which baro correction starts
-    const float Tzero = 25;
+    const float Tzero = 0;
 
     const float exp_limit_max = 2;
     const float exp_limit_min = 0;
@@ -70,7 +70,8 @@ private:
     
     // require observation of at least 5 degrees of temp range to
     // start learning
-    const float min_learn_temp_range = 7;
+    // const float min_learn_temp_range = 7;
+    const float min_learn_temp_range = 1;
     
     void setup_learning(void);
     void learn_calibration(void);