C++ (Cpp) check_ekf_yaw_reset示例

示例#1

文件： ArduCopter.cpp 项目： Mikebert4/ardupilot

// Main loop - 400hz
void Copter::fast_loop()
{

    // IMU DCM Algorithm
    // --------------------
    read_AHRS();

    // run low level rate controllers that only require IMU data
    attitude_control.rate_controller_run();
    
#if FRAME_CONFIG == HELI_FRAME
    update_heli_control_dynamics();
#endif //HELI_FRAME

    // send outputs to the motors library
    motors_output();

    // Inertial Nav
    // --------------------
    read_inertia();

    // check if ekf has reset target heading
    check_ekf_yaw_reset();

    // run the attitude controllers
    update_flight_mode();

    // update home from EKF if necessary
    update_home_from_EKF();

    // check if we've landed or crashed
    update_land_and_crash_detectors();
}

示例#2

文件： ArduCopter.cpp 项目： Amnesiac2/ardupilot

// Main loop - 400hz
void Copter::fast_loop()
{

    // IMU DCM Algorithm
    // --------------------
    read_AHRS();

    // run low level rate controllers that only require IMU data
    attitude_control.rate_controller_run();
    
#if FRAME_CONFIG == HELI_FRAME
    update_heli_control_dynamics();
#endif //HELI_FRAME

    // send outputs to the motors library
    motors_output();

    // Inertial Nav
    // --------------------
    read_inertia();

    // check if ekf has reset target heading
    check_ekf_yaw_reset();

    // run the attitude controllers
    update_flight_mode();

    // update home from EKF if necessary
    update_home_from_EKF();

    // check if we've landed or crashed
    update_land_and_crash_detectors();

#if MOUNT == ENABLED
    // camera mount's fast update
    camera_mount.update_fast();
#endif

    // log sensor health
    if (should_log(MASK_LOG_ANY)) {
        Log_Sensor_Health();
    }
}

示例#3

文件： ArduSub.cpp 项目： LanderU/ardupilot

// Main loop - 400hz
void Sub::fast_loop()
{
    // update INS immediately to get current gyro data populated
    ins.update();

    if (control_mode != MANUAL) { //don't run rate controller in manual mode
        // run low level rate controllers that only require IMU data
        attitude_control.rate_controller_run();
    }

    // send outputs to the motors library
    motors_output();

    // run EKF state estimator (expensive)
    // --------------------
    read_AHRS();

    // Inertial Nav
    // --------------------
    read_inertia();

    // check if ekf has reset target heading
    check_ekf_yaw_reset();

    // run the attitude controllers
    update_flight_mode();

    // update home from EKF if necessary
    update_home_from_EKF();

    // check if we've reached the surface or bottom
    update_surface_and_bottom_detector();

#if MOUNT == ENABLED
    // camera mount's fast update
    camera_mount.update_fast();
#endif

    // log sensor health
    if (should_log(MASK_LOG_ANY)) {
        Log_Sensor_Health();
    }
}

示例#4

文件： ArduSub.cpp 项目： ColemanURT/ardusub

// Main loop - 400hz
void Sub::fast_loop()
{

    // IMU DCM Algorithm
    // --------------------
    read_AHRS();

    // run low level rate controllers that only require IMU data
    attitude_control.rate_controller_run();

    // send outputs to the motors library
    motors_output();

    // Inertial Nav
    // --------------------
    read_inertia();

    // check if ekf has reset target heading
    check_ekf_yaw_reset();

    // run the attitude controllers
    update_flight_mode();

    // update home from EKF if necessary
    update_home_from_EKF();

    // check if we've landed or crashed
    update_land_and_crash_detectors();

    // check if we've reached the surface or bottom
    update_surface_and_bottom_detector();

    // camera mount's fast update
    camera_mount.update_fast();

    // log sensor health
    if (should_log(MASK_LOG_ANY)) {
        Log_Sensor_Health();
    }
}