diff options
| author | Keith Packard <keithp@keithp.com> | 2014-01-14 23:29:59 -0800 |
|---|---|---|
| committer | Keith Packard <keithp@keithp.com> | 2014-01-14 23:29:59 -0800 |
| commit | cc06242e882cba462791962c199b7c89e79adc65 (patch) | |
| tree | 10c33547bcd3c75021e283be00409825f32eedaa | |
| parent | 9d812b3db418fd9816731b761a0853eb38f5a265 (diff) | |
altos: Use factory calibration for all acceleration computations
The ground acceleration value will vary depending on the tilt angle of
the airframe, which will result in incorrect acceleration computations
during flight. This also avoids accidental boost detect when moving
the airframe around in pad mode.
Signed-off-by: Keith Packard <keithp@keithp.com>
| -rw-r--r-- | altoslib/AltosState.java | 12 | ||||
| -rw-r--r-- | src/core/ao_flight.c | 2 | ||||
| -rw-r--r-- | src/core/ao_kalman.c | 2 |
3 files changed, 4 insertions, 12 deletions
diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java index 134aeb4e..08dafbb4 100644 --- a/altoslib/AltosState.java +++ b/altoslib/AltosState.java @@ -949,14 +949,8 @@ public class AltosState implements Cloneable { } void update_accel() { - double ground = ground_accel; - - if (ground == AltosLib.MISSING) - ground = ground_accel_avg; if (accel == AltosLib.MISSING) return; - if (ground == AltosLib.MISSING) - return; if (accel_plus_g == AltosLib.MISSING) return; if (accel_minus_g == AltosLib.MISSING) @@ -964,7 +958,7 @@ public class AltosState implements Cloneable { double counts_per_g = (accel_minus_g - accel_plus_g) / 2.0; double counts_per_mss = counts_per_g / 9.80665; - acceleration.set_measured((ground - accel) / counts_per_mss, time); + acceleration.set_measured((accel_plus_g - accel) / counts_per_mss, time); } public void set_accel_g(double accel_plus_g, double accel_minus_g) { @@ -976,10 +970,8 @@ public class AltosState implements Cloneable { } public void set_ground_accel(double ground_accel) { - if (ground_accel != AltosLib.MISSING) { + if (ground_accel != AltosLib.MISSING) this.ground_accel = ground_accel; - update_accel(); - } } public void set_accel(double accel) { diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c index 08302140..702c3403 100644 --- a/src/core/ao_flight.c +++ b/src/core/ao_flight.c @@ -401,7 +401,7 @@ ao_flight_dump(void) #if HAS_ACCEL int16_t accel; - accel = ((ao_ground_accel - ao_sample_accel) * ao_accel_scale) >> 16; + accel = ((ao_config.accel_plus_g - ao_sample_accel) * ao_accel_scale) >> 16; #endif printf ("sample:\n"); diff --git a/src/core/ao_kalman.c b/src/core/ao_kalman.c index 7fd4f889..9aea1f14 100644 --- a/src/core/ao_kalman.c +++ b/src/core/ao_kalman.c @@ -166,7 +166,7 @@ ao_kalman_err_accel(void) { int32_t accel; - accel = (ao_ground_accel - ao_sample_accel) * ao_accel_scale; + accel = (ao_config.accel_plus_g - ao_sample_accel) * ao_accel_scale; /* Can't use ao_accel here as it is the pre-prediction value still */ ao_error_a = (accel - ao_k_accel) >> 16; |