paparazzi-devel
[Top][All Lists]
Advanced

[Date Prev][Date Next][Thread Prev][Thread Next][Date Index][Thread Index]

Re: [Paparazzi-devel] imu sensor filtering?


From: Chris
Subject: Re: [Paparazzi-devel] imu sensor filtering?
Date: Sat, 18 May 2013 20:43:59 +0300
User-agent: Mozilla/5.0 (X11; Linux i686; rv:17.0) Gecko/20130329 Thunderbird/17.0.5

Hi Gautier
I have used nearly all of them but with my IC engine airplane the best seems to be
the "float_cmpl_rmat"
Adding <define name="AHRS_PROPAGATE_LOW_PASS_RATES"/> seems to to do nothing
because the extra warning i have put in the "ahrs_float_cmpl.c" file where the relevant code is found is not activated. Also if i follow the instructions found in the wiki here: http://paparazzi.enac.fr/wiki/Subsystem/ahrs
and define:

    <subsystem  name="ahrs"  type="float_cmpl_rmat">
      <define  name="AHRS_PROPAGATE_QUAT"/>
    </subsystem>

I get an error about defining bothAHRS_PROPAGATE_QUAT and AHRS_PROPAGATE_RMAT. Probably something has changed in the code and it is not reflected in the wiki.

Here is part of my airframe file:

<!--  THIS IS THE BEST so far -->
    <subsystem name="ahrs" type="float_cmpl_rmat">
         <define name="AHRS_PROPAGATE_LOW_PASS_RATES"/>
        </subsystem>

    <subsystem name="ins" type="alt_float"/>
        <configure name="USE_MAGNETOMETER" value="0"/>

Chris

On 05/18/2013 05:24 PM, address@hidden wrote:
There is no filtering at IMU level, but some AHRS have filtering
options. Which AHRS are you using ? If it is a quaternion based filter,
you can try to add <define name="AHRS_PROPAGATE_LOW_PASS_RATES"/> to
your airframe file.

Gautier




reply via email to

[Prev in Thread] Current Thread [Next in Thread]