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From: | Loic Drumettaz |
Subject: | Re: [Paparazzi-devel] ins subsystem |
Date: | Mon, 23 Jul 2012 12:17:14 +0200 |
ACCEL_NOISE
R_POS
R_SPEED
Is it efficicient to specifiy the GPS delay in the filter, with "GPS_LAG" parameter? What is this delay for let's say, a Lea 6 GPS?
One the other side, I also understood that the IMU sensor filtering is affected by periodic frequency: https://github.com/paparazzi/paparazzi/issues/240. Is it the same problem for HFF filter?
Best regards
Loïc
Hi everyone,For people working with the master branch (development branch), after commit https://github.com/paparazzi/paparazzi/commit/6b875f40dff3a61873e343cb6472b3cc0e2b357c, a separated ins subsystem has been introduced for _rotorcrafts_.
This will allow to handle more easily several ins implementations. What you need to do in your airframe file is to add this subsystem: <subsystem name="ins"/>With this configuration, you will have the vertical filter (float version) running with accelerometers and barometer, and the raw gps position and velocities for the horizontal part.
All airframe files in the git repository have been updated.You can activate an horizontal filter based on gps and accelerometers by adding the line:
<subsystem name="ins" type="hff"/>Please note that this code, while working, doesn't improve that much the estimation and should be completely re-written (anyone with an urgent need to do some kalman filtering ?).
You will also notice an "extended" ins subsystem, which is an attempt to properly use an other altitude information, like a sonar, to correct the barometer drift. This code is working as long as the flat earth assumption is correct (flying over obstacles will produce altitude step with a sonar) and that the input signal is not going crazy (which can be the case with ultrasonic sensors close to motors and propellers).
The road-map for this ins subsystem is to split the existing one into several, each corresponding to a given configuration (one of the vertical/horizontal filter or none). This should improve the readability of the code.
Do not hesitate to report issues. Good flights to everyone Gautier
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