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

[Christophe De Wagter]

If you want all messages, you need to set the telemetry at 512 Hz on rotorcraft. Period then is 0.001953125. If you put 0.001 it will do as much as it can.

Please note that most modems will not be able to handle this. Either use UDP or high speed uart via a cable.

-Christophe 

On Sat, Oct 24, 2015 at 8:34 AM, flavio_just <address@hidden> wrote:

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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