TuxMonkey/bf_original_balance_chassis
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修复bmi088读取零飘错误,为instask增加初始化四元数以防止零飘发散，修复cancomm顺序

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This commit is contained in:
NeoZng
2023-04-13 10:31:06 +08:00
parent 95fca40700
commit 6523bbd6a9
8 changed files with 82 additions and 26 deletions
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14
modules/algorithm/QuaternionEKF.c
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@@ -47,7 +47,7 @@ static void IMU_QuaternionEKF_xhatUpdate(KalmanFilter_t *kf);
* @param[in] lambda fading coefficient 0.9996
* @param[in] lpf lowpass filter coefficient 0
*/
void IMU_QuaternionEKF_Init(float process_noise1, float process_noise2, float measure_noise, float lambda, float lpf)
void IMU_QuaternionEKF_Init(float* init_quaternion,float process_noise1, float process_noise2, float measure_noise, float lambda, float lpf)
{
QEKF_INS.Initialized = 1;
QEKF_INS.Q1 = process_noise1;
@@ -69,10 +69,10 @@ void IMU_QuaternionEKF_Init(float process_noise1, float process_noise2, float me
Matrix_Init(&QEKF_INS.ChiSquare, 1, 1, (float *)QEKF_INS.ChiSquare_Data);
// 姿态初始化
QEKF_INS.IMU_QuaternionEKF.xhat_data[0] = 1;
QEKF_INS.IMU_QuaternionEKF.xhat_data[1] = 0;
QEKF_INS.IMU_QuaternionEKF.xhat_data[2] = 0;
QEKF_INS.IMU_QuaternionEKF.xhat_data[3] = 0;
for(int i = 0; i < 4; i++)
{
QEKF_INS.IMU_QuaternionEKF.xhat_data[i] = init_quaternion[i];
}
// 自定义函数初始化,用于扩展或增加kf的基础功能
QEKF_INS.IMU_QuaternionEKF.User_Func0_f = IMU_QuaternionEKF_Observe;
@@ -99,10 +99,6 @@ void IMU_QuaternionEKF_Update(float gx, float gy, float gz, float ax, float ay,
// 0.5(Ohm-Ohm^bias)*deltaT,用于更新工作点处的状态转移F矩阵
static float halfgxdt, halfgydt, halfgzdt;
static float accelInvNorm;
if (!QEKF_INS.Initialized)
{
IMU_QuaternionEKF_Init(10, 0.001, 1000000 * 10, 0.9996 * 0 + 1, 0);
}
/* F, number with * represent vals to be set
0 1* 2* 3* 4 5