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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
Re: [Paparazzi-devel] imu sensor filtering?, Chris Efstathiou, 2013/05/20
Re: [Paparazzi-devel] imu sensor filtering?, Chris Efstathiou, 2013/05/20