Revision 30:dc68b509f930, committed 2017-10-05

Comitter:

chriselsholz

Date:

Thu Oct 05 18:02:40 2017 +0000

Parent:

29:3efe34986347

Commit message:

test;

Changed in this revision

--- a/filter/Kalman.cpp	Mon Sep 25 11:04:53 2017 +0000
+++ b/filter/Kalman.cpp	Thu Oct 05 18:02:40 2017 +0000
@@ -8,11 +8,12 @@
 void Kalman_pitch(void) 
 {
     /* We will set the varibles like so, these can also be tuned by the user */
-    Q_angle_pitch = 0.001;
+    Q_angle_pitch = 0.1;
     Q_bias_pitch = 0.003;
-    R_measure_pitch = 0.03;
+    R_measure_pitch = 0.1;
     
-    bias_pitch = 0; // Reset bias
+    angle_pitch = 1.2;
+    bias_pitch = -0.4; // Reset bias
     // Since we assume tha the bias is 0 and we know the starting angle (use setAngle), 
     // the error covariance matrix is set like so - see: http://en.wikipedia.org/wiki/Kalman_filter#Example_application.2C_technical
     P_pitch[0][0] = 0;
@@ -128,10 +129,11 @@
 {
     /* We will set the varibles like so, these can also be tuned by the user */
     Q_angle_roll = 0.001;
-    Q_bias_roll = 0.003;
-    R_measure_roll = 0.03;
+    Q_bias_roll = 0.1;
+    R_measure_roll = 0.1;
     
-    bias_roll = 0; // Reset bias
+    angle_roll = 1.2;
+    bias_roll = 1.2; // Reset bias
     // Since we assume tha the bias is 0 and we know the starting angle (use setAngle), 
     // the error covariance matrix is set like so - see: http://en.wikipedia.org/wiki/Kalman_filter#Example_application.2C_technical
     P_roll[0][0] = 0;

--- a/main.cpp	Mon Sep 25 11:04:53 2017 +0000
+++ b/main.cpp	Thu Oct 05 18:02:40 2017 +0000
@@ -100,7 +100,7 @@
         if (taster2) 
         {
             pc.printf("\n\rOffset und Driftberechnung wird durchgefuehrt, halte die Drohne still");
-                printf("\n\rpitch, yaw, roll, newAngle_pitch, newAngle_´roll, newRate_pitch, newRate_yaw, newRate_roll, n2\n\r"); 
+                printf("\n\rpitch, yaw, roll, newAngle_pitch, newAngle_roll, gyro_pitch, gyro_yaw, gyro_roll, n2\n\r"); 
             while(1) 
             {             
                 
@@ -144,7 +144,7 @@
                     
                     if (i == 500)
                     {
-                        printf(" %f3.2 \t\t %f3.2 \t\t %f3.2 \t\t %f3.2 \t\t %f3.2 \t\t %f3.2 \t\t %f3.2 \t\t %f3.2 \t\t %d\n\r", pitch, yaw, roll, newAngle_pitch, newAngle_´roll, newRate_pitch, newRate_yaw, newRate_roll, n2); 
+                        printf(" %3.2f \t %3.2f \t %3.2f \t %3.2f \t\t %3.2f \t\t %3.2f \t\t %3.2f \t\t %3.2f \t\t %d\n\r", pitch, yaw, roll, newAngle_pitch, newAngle_roll, gyro_pitch, gyro_yaw, gyro_roll, n2); 
                         i = 0;
                     }
                     if (timer2.read_ms() >= 5000)
@@ -160,7 +160,7 @@
                             timer2.reset();
                     }
                     Motorsteurung(&Motor1, &Motor2, &Motor3, &Motor4, &taster2, &taster3, &taster4, &n1, &n2, &n3, &n4);
-                    if (n1>1400)
+                    if (n1>1501)
                     {
                         n1=n2=n3=n4=700;
                         Motor1.pulsewidth_us(n1);
@@ -173,4 +173,4 @@
             }
         }
     }
-}
+}
\ No newline at end of file