[paparazzi-commits] [paparazzi/paparazzi] f48319: [ins] alt

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[paparazzi-commits] [paparazzi/paparazzi] f48319: [ins] alt_float: calc

From:	GitHub
Subject:	[paparazzi-commits] [paparazzi/paparazzi] f48319: [ins] alt_float: calc dt instead of using hardcode...
Date:	Mon, 15 Sep 2014 07:17:16 -0700

  Branch: refs/heads/master
  Home:   https://github.com/paparazzi/paparazzi
  Commit: f4831982fe0b7b17648464111b1617152d0024b8
      
https://github.com/paparazzi/paparazzi/commit/f4831982fe0b7b17648464111b1617152d0024b8
  Author: Felix Ruess <address@hidden>
  Date:   2014-09-08 (Mon, 08 Sep 2014)

  Changed paths:
    M sw/airborne/subsystems/ins/ins_alt_float.c

  Log Message:
  -----------
  [ins] alt_float: calc dt instead of using hardcoded value


  Commit: 4586b88ae263fc81509e07b1d9156b0e56d05c23
      
https://github.com/paparazzi/paparazzi/commit/4586b88ae263fc81509e07b1d9156b0e56d05c23
  Author: Felix Ruess <address@hidden>
  Date:   2014-09-08 (Mon, 08 Sep 2014)

  Changed paths:
    M conf/firmwares/subsystems/rotorcraft/ins.makefile
    M conf/firmwares/subsystems/rotorcraft/ins_extended.makefile
    M sw/airborne/firmwares/rotorcraft/main.c
    M sw/airborne/subsystems/ins.c
    M sw/airborne/subsystems/ins.h
    M sw/airborne/subsystems/ins/ins_ardrone2.c
    M sw/airborne/subsystems/ins/ins_int.c
    M sw/airborne/subsystems/ins/vf_extended_float.c
    M sw/airborne/subsystems/ins/vf_extended_float.h
    M sw/airborne/subsystems/ins/vf_float.c
    M sw/airborne/subsystems/ins/vf_float.h

  Log Message:
  -----------
  [ins] calc dt instead of using INS_PROPAGATE_FREQUENCY


  Commit: b047268119d209f49397c0f945fead0cd1a35974
      
https://github.com/paparazzi/paparazzi/commit/b047268119d209f49397c0f945fead0cd1a35974
  Author: Felix Ruess <address@hidden>
  Date:   2014-09-08 (Mon, 08 Sep 2014)

  Changed paths:
    M sw/airborne/subsystems/ins/hf_float.c

  Log Message:
  -----------
  [ins] minor hff changes


  Commit: 823e02c8bcc96a248dd9249e2ef7d075cf9c34a6
      
https://github.com/paparazzi/paparazzi/commit/823e02c8bcc96a248dd9249e2ef7d075cf9c34a6
  Author: Felix Ruess <address@hidden>
  Date:   2014-09-08 (Mon, 08 Sep 2014)

  Changed paths:
    M sw/airborne/firmwares/fixedwing/main_ap.c
    M sw/airborne/firmwares/rotorcraft/main.c
    M sw/airborne/modules/ins/ahrs_chimu_spi.c
    M sw/airborne/subsystems/ahrs.c
    M sw/airborne/subsystems/ahrs.h
    M sw/airborne/subsystems/ahrs/ahrs_ardrone2.c
    M sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c
    M sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
    M sw/airborne/subsystems/ahrs/ahrs_float_mlkf.c
    M sw/airborne/subsystems/ahrs/ahrs_infrared.c
    M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c
    M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c
    M sw/airborne/subsystems/ahrs/ahrs_sim.c
    M sw/airborne/subsystems/ins/ins_float_invariant.c
    M sw/airborne/test/ahrs/ahrs_on_synth.c
    M sw/airborne/test/ahrs/run_ahrs_on_flight_log.c
    M sw/airborne/test/ahrs/run_ahrs_on_synth_ivy.c
    M sw/airborne/test/subsystems/test_ahrs.c

  Log Message:
  -----------
  [ahrs] pass dt to ahrs_propagate

not really properly taken into account for:
- int_cmpl_euler: this is very ugly and still has F_UPDATE 512Hz hardcoded, but 
nobody should use this one anyway..
- float_cmpl and int_cmpl_quat: still use AHRS_PROPAGATE_FREQUENCY to set the 
gains...


  Commit: 9a0bee8be81f6f63f8f1fa9e7371a564fb7335f4
      
https://github.com/paparazzi/paparazzi/commit/9a0bee8be81f6f63f8f1fa9e7371a564fb7335f4
  Author: Felix Ruess <address@hidden>
  Date:   2014-09-15 (Mon, 15 Sep 2014)

  Changed paths:
    M sw/airborne/firmwares/rotorcraft/main.c

  Log Message:
  -----------
  [rotorcraft] ahrs dt: only calc if USE_AUTO_AHRS_FREQ or 
!defined(AHRS_PROPAGATE_FREQUENCY)


  Commit: df023584f9ce1e3a78576d65e3ab9b05d1ec83f8
      
https://github.com/paparazzi/paparazzi/commit/df023584f9ce1e3a78576d65e3ab9b05d1ec83f8
  Author: Felix Ruess <address@hidden>
  Date:   2014-09-15 (Mon, 15 Sep 2014)

  Changed paths:
    M sw/airborne/firmwares/fixedwing/main_ap.c

  Log Message:
  -----------
  [fixedwing] remove reduced propagation rate stuff

Also calculate dt if USE_AUTO_AHRS_FREQ or !defined(AHRS_PROPAGATE_FREQUENCY)


  Commit: 38873ac4fc0a796dcb38488528ffc90092d80b79
      
https://github.com/paparazzi/paparazzi/commit/38873ac4fc0a796dcb38488528ffc90092d80b79
  Author: Felix Ruess <address@hidden>
  Date:   2014-09-15 (Mon, 15 Sep 2014)

  Changed paths:
    M sw/airborne/subsystems/imu.c
    M sw/airborne/test/ahrs/Makefile
    A sw/airborne/test/ahrs/generated/airframe.h
    M sw/airborne/test/ahrs/run_ahrs_on_flight_log.c

  Log Message:
  -----------
  [test] update some mostly unused ahrs tests


  Commit: e3abe48436179d888475f13b4b1a7f71b6adbe56
      
https://github.com/paparazzi/paparazzi/commit/e3abe48436179d888475f13b4b1a7f71b6adbe56
  Author: Felix Ruess <address@hidden>
  Date:   2014-09-15 (Mon, 15 Sep 2014)

  Changed paths:
    M sw/airborne/firmwares/fixedwing/main_ap.c
    M sw/airborne/firmwares/rotorcraft/main.c
    M sw/airborne/modules/ins/ahrs_chimu_spi.c
    M sw/airborne/subsystems/ahrs.c
    M sw/airborne/subsystems/ahrs.h
    M sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c
    M sw/airborne/subsystems/ahrs/ahrs_float_cmpl.h
    M sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
    M sw/airborne/subsystems/ahrs/ahrs_float_mlkf.c
    M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c
    M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c
    M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.h
    M sw/airborne/subsystems/ins/ins_float_invariant.c

  Log Message:
  -----------
  [ahrs] also pass dt to update_accel and update_mag

Not so sure passing dt to the update functions is the best way to go...
Is only used to update the gains of the cmpl filters right now.
But it makes it possible to properly compute the gains and avoids having a 
dependency on sys_time in the AHRS.


  Commit: 1cec1e9db9f518496051672f05185d14884f7a84
      
https://github.com/paparazzi/paparazzi/commit/1cec1e9db9f518496051672f05185d14884f7a84
  Author: Felix Ruess <address@hidden>
  Date:   2014-09-15 (Mon, 15 Sep 2014)

  Changed paths:
    M sw/airborne/firmwares/rotorcraft/main.c

  Log Message:
  -----------
  [rotorcraft] only calc mag dt if actually using mag


  Commit: 20ee0bb0d48841d07267dc2a4c41190571e23b36
      
https://github.com/paparazzi/paparazzi/commit/20ee0bb0d48841d07267dc2a4c41190571e23b36
  Author: Felix Ruess <address@hidden>
  Date:   2014-09-15 (Mon, 15 Sep 2014)

  Changed paths:
    M sw/airborne/firmwares/fixedwing/main_ap.c

  Log Message:
  -----------
  [fixedwing] minor cleanup for ahrs_sim


  Commit: 12d0eca18ddd5eedc9348a396fb73dfb91b3f324
      
https://github.com/paparazzi/paparazzi/commit/12d0eca18ddd5eedc9348a396fb73dfb91b3f324
  Author: Felix Ruess <address@hidden>
  Date:   2014-09-15 (Mon, 15 Sep 2014)

  Changed paths:
    M sw/airborne/subsystems/ins/ins_alt_float.c

  Log Message:
  -----------
  [ins] alt_float, bound dt and used fixed GPS_DT if defined


  Commit: 0502f631ed861bf00b2a689314ced090cb9c27b8
      
https://github.com/paparazzi/paparazzi/commit/0502f631ed861bf00b2a689314ced090cb9c27b8
  Author: Felix Ruess <address@hidden>
  Date:   2014-09-15 (Mon, 15 Sep 2014)

  Changed paths:
    M sw/airborne/firmwares/fixedwing/main_ap.c
    M sw/airborne/firmwares/rotorcraft/main.c
    M sw/airborne/mcu_periph/sys_time.h
    M sw/airborne/subsystems/ins/ins_alt_float.c
    M sw/airborne/test/subsystems/test_ahrs.c

  Log Message:
  -----------
  [airborne] calc dt with usec resolution


  Commit: 005327a516bdc4181b5e05b3ccdec261b695fcab
      
https://github.com/paparazzi/paparazzi/commit/005327a516bdc4181b5e05b3ccdec261b695fcab
  Author: Felix Ruess <address@hidden>
  Date:   2014-09-15 (Mon, 15 Sep 2014)

  Changed paths:
    M conf/firmwares/subsystems/rotorcraft/ins.makefile
    M conf/firmwares/subsystems/rotorcraft/ins_extended.makefile
    M sw/airborne/firmwares/fixedwing/main_ap.c
    M sw/airborne/firmwares/rotorcraft/main.c
    M sw/airborne/mcu_periph/sys_time.h
    M sw/airborne/modules/ins/ahrs_chimu_spi.c
    M sw/airborne/subsystems/ahrs.c
    M sw/airborne/subsystems/ahrs.h
    M sw/airborne/subsystems/ahrs/ahrs_ardrone2.c
    M sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c
    M sw/airborne/subsystems/ahrs/ahrs_float_cmpl.h
    M sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
    M sw/airborne/subsystems/ahrs/ahrs_float_mlkf.c
    M sw/airborne/subsystems/ahrs/ahrs_infrared.c
    M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c
    M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c
    M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.h
    M sw/airborne/subsystems/ahrs/ahrs_sim.c
    M sw/airborne/subsystems/imu.c
    M sw/airborne/subsystems/ins.c
    M sw/airborne/subsystems/ins.h
    M sw/airborne/subsystems/ins/hf_float.c
    M sw/airborne/subsystems/ins/ins_alt_float.c
    M sw/airborne/subsystems/ins/ins_ardrone2.c
    M sw/airborne/subsystems/ins/ins_float_invariant.c
    M sw/airborne/subsystems/ins/ins_int.c
    M sw/airborne/subsystems/ins/vf_extended_float.c
    M sw/airborne/subsystems/ins/vf_extended_float.h
    M sw/airborne/subsystems/ins/vf_float.c
    M sw/airborne/subsystems/ins/vf_float.h
    M sw/airborne/test/ahrs/Makefile
    M sw/airborne/test/ahrs/ahrs_on_synth.c
    A sw/airborne/test/ahrs/generated/airframe.h
    M sw/airborne/test/ahrs/run_ahrs_on_flight_log.c
    M sw/airborne/test/ahrs/run_ahrs_on_synth_ivy.c
    M sw/airborne/test/subsystems/test_ahrs.c

  Log Message:
  -----------
  Merge pull request #818 from paparazzi/propagate_dt

Pass dt to ahrs/ins propagation and updates instead of using the defines in the 
implementations.

The fixedwing ins_alt_float now uses the real dt for alt_kalman update from 
baro or gps.

For the AHRS: If the frequencies are not defines or USE_AUTO_AHRS_FREQ is TRUE, 
the dt is calculated from the system time.
Should be cleaner like this and less prone to misconfiguration, possible 
drawback however is that you get some more jitter on the DT.

The complementary filters now don't use the AHRS_x_FREQUENCY defines for 
calculation of the gains anymore and instead count the number of propagations 
since last update.


Compare: 
https://github.com/paparazzi/paparazzi/compare/e0afb70909c6...005327a516bd

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