Re: [Paparazzi-devel] Vector Increment wrong in ahrs_cmpl_filter

[flavio_just]

Hi Christophe, thanks for replying!
My telemetry rate for the FILTER message is T=0.05. I thought it was small enough to reproduce all the values. Do you think it can be the problem?

Flavio Justino

2015-10-24 7:11 GMT+01:00 Christophe De Wagter [via Paparazzi UAV] <[hidden email]>:

What is your telemetry rate for this message? 512/30 or about 0.05 as period?

On Oct 23, 2015 11:34 PM, "flavio_just" <[hidden email]> wrote:

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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