AP_Baro: support for barometer position compensation #30876
Conversation
|
Test: After launching a plane SITL simulation with a normal mission wp load ../Tools/autotest/Generic_Missions/CMAC-circuit.txt param set SIM_BARO_POS_X 60 mode auto then mid flight set BARO_POS_* to same values as above results for EKF2 and EKF3 show big fluctuations in estimation when compensation variables are not set correctly which is corrected when the parameters are set: 
|
|
Currently now I added BARO_POS_* which accounts for 1 barometer only. Should I extend the work for all barometers possible ? |
| @@ -229,6 +229,13 @@ const AP_Param::GroupInfo AP_Baro::var_info[] = { | |||
| #endif | |||
| #endif // HAL_BARO_WIND_COMP_ENABLED | |||
|
|
|||
| // @Param: BARO_POS | |||
There was a problem hiding this comment.
| // @Param: BARO_POS | |
| #if AP_BARO_POSITION_COMPENSATION_ENABLED | |
| // @Param: BARO_POS |
... this should be a zero-compiler-change output on 1MB boards. And definitely off on AP_Periph.
…OS_*. Add baro position offset variables BARO_POS_* in the barometer implementation. Added correction for barometer offset in both EKF2 and EKF3.
…S_*. Add baro position offset variables BARO_POS_* in the barometer implementation. Added correction for barometer offset in both EKF2 and EKF3.
…O_POS_*. Add baro position offset variables BARO_POS_* in the barometer implementation. Added correction for barometer offset in both EKF2 and EKF3.
…O_POS_*. Add baro position offset variables BARO_POS_* in the barometer implementation. Added correction for barometer offset in both EKF2 and EKF3.
…*. Add baro position offset variables BARO_POS_* in the barometer implementation. Added correction for barometer offset in both EKF2 and EKF3.
ahmedmsalah99
force-pushed
the
add_parometer_correction
branch
from
b8352b8 to
fa73650
Compare
|
@peterbarker |
Addressing: #30727
Added baro position offset simulation and variables SIM_BARO_POS_.
Added baro position offset variables BARO_POS_ in the barometer implementation.
Added correction for barometer offset in both EKF2 and EKF3.