[Paparazzi-devel] Vector Increment wrong in ahrs_cmpl_filter

[flavio_just]

Guys, I have the following code below. What happens is that vector3 Corr is
supposed to implement a 1 increment but the result is something like
14,44,74,104... instead of 1,2,3,4... And I have no idea why. 

Code: 
In ahrs_int_cmpl_euler.h 

struct AhrsIntCmplEuler { 
struct Int32Vect3 Corr 
} 

In ahrs_int_cmpl_euler.c 

void ahrs_init(void) { 
ahrs.status=AHRS_UNINIT; 
INT32_VECT3_ZERO(ahrs_impl.Corr) 
other variables go here... 
} 

void ahrs_propagate(void) { 

default code goes her... 
in the end of ahrs_propagate function goes: 
ahrs_impl.Corr.x+=1; 
ahrs_impl.Corr.y+=1; 
ahrs_impl.Corr.z+=1; 

} 

In telemetry.h: 
#ifdef USE_AHRS_CMPL 
#include "subsystems/ahrs/ahrs_int_cmpl_euler.h" 
#define PERIODIC_SEND_FILTER(_chan) {   \ 
    DOWNLINK_SEND_FILTER(_chan, \ 
                         &ahrs.ltp_to_imu_euler.phi,    \ 
                         &ahrs.ltp_to_imu_euler.theta,  \ 
                         &ahrs.ltp_to_imu_euler.psi,    \ 
                         &ahrs_impl.measure.phi,        \ 
                         &ahrs_impl.measure.theta,      \ 
                         &ahrs_impl.measure.psi,        \ 
                         &ahrs_impl.hi_res_euler.phi,   \ 
                         &ahrs_impl.hi_res_euler.theta, \ 
                         &ahrs_impl.hi_res_euler.psi,   \ 
                         &ahrs_impl.residual.phi,       \ 
                         &ahrs_impl.residual.theta,     \ 
                         &ahrs_impl.residual.psi,       \ 
                         &ahrs_impl.gyro_bias.p,        \ 
                         &ahrs_impl.gyro_bias.q,        \ 
                         &ahrs_impl.gyro_bias.r,        \ 
                         &ahrs_impl.Corr.x, \ 
                         &ahrs_impl.Corr.y, \ 
                         &ahrs_impl.Corr.z); \ 
  } 
#else 
#define PERIODIC_SEND_FILTER(_chan) {} 
#endif 

I changed the last 3 entries of the message FILTER. After I turn on the
drone and make some moviments with it, the info goes to a SD card where I
decode the info using Matlab. I read this message from binary format as
int32. The result I get is what I explained before, something like, 0 14 44
74 etc...sometimes it jumps 30, sometimes it jumps 60 or 90... 

Can someone tell me what is the problem here? maybe some memory variables,
bitshifts...I don't know =/. 

Thank you so much guys! 
Flávio Justino 



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