Re: [Paparazzi-devel] baro_ets altitude

[Felix Ruess]

Hi Germar,

I just fixed the include path for baro_ets and also added ground_alt to the resulting baro measurement.
As ground_alt is defined in the flight plan this is not ideal and will only give you correct results if you power up when you are actually at this altitude.
Maybe we should change this to take the altitude from the first gps fix instead and assume this is the true ground altitude instead of the one manually set in the flight plan? But what then if you don't use a GPS (ok, basically everyone does, but still....)?

Cheers, Felix

On Wed, Jan 12, 2011 at 2:16 PM, Germar Walter <address@hidden> wrote:

Hi Felix

I am trying it on real hardware. No Simulation.
I am looking at the estimator_z variable. I have not added a extra message for the baro measurement.

  <firmware name="fixedwing">


    <target name="ap" 			board="tiny_2.11"/>

     
    <define name="ALT_KALMAN"/>
    <define name="USE_I2C0"/>
    
    <subsystem name="i2c"/>


  </firmware>

 <modules>
   <load name="baro_ets.xml"/>
 <\modules>

This is my airframe file. If I add <define name="USE_BARO_ETS"/> the code will no longer be built due to an error. It says "./estimator.h:40:22: baro_ets.h: No such file or directory". The only point where this file is available is in the modules and not in the subsystems. The adding of <define name="USE_BARO"/> does not change anything.
The example file with ETS_BARO does also not compile due to the same error.

Best regards
Germar

Hi Germar,

some questions first:
Just making sure: you are not trying this in simulation, but on the real hardware?
When you are referring to the measurements you were looking at estimator_z variable, or did you add some message to look at the ets baro altitude directly?

So now some comments on how to use the baro_ets module.
You need to add some subsystems/defines in order to use it:

  <firmware name="fixedwing">
    <target name="ap" 			board="tiny_2.11"/>



     
    <define name="ALT_KALMAN"/>
    <define name="USE_I2C0"/>
    <define name="USE_BARO_ETS"/>
    
    <subsystem name="i2c"/>
  </firmware>

 <modules>
   <load name="baro_ets.xml"/>
 <\modules>

Can you please report on what settings you have used so far, then update your airframe file like above and check if the problem is still there.

I think we need to update some of this stuff a little. (e.g. when a baro is only used as payload and when it is also used for supporting the altitude estimation.) Some of this is done for other baros, but this should be consistent between all baro sensors.

Also I think there might be still be a bug: gps_alt and estimator_z report height above mean sea level if I am not mistaken. But baro_ets_altitude report gives you altitude relative to your startup point (where the offset was calculated).

Cheers, Felix

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