Baro thrust scaling #28982
Baro thrust scaling #28982
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andyp1per
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libraries/AP_Baro/AP_Baro_config.h
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| @@ -103,3 +103,7 @@ | |||
| // this allows for using the simple model with the --ekf-single configure option | |||
| #define AP_BARO_1976_STANDARD_ATMOSPHERE_ENABLED HAL_WITH_EKF_DOUBLE || AP_SIM_ENABLED | |||
| #endif | |||
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| #ifndef HAL_BARO_THST_COMP_ENABLED | |||
| #define HAL_BARO_THST_COMP_ENABLED 1 | |||
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Need to know how useful this might be on other vehicles. And flash cost...
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Cost 160 bytes avg on Durandal
andyp1per
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The parameter is error at max thrust? |
Not sure I follow? |
The parameter description says "User provided thrust scaling in Pascals. This is used to adjust linearly based on the thrust output for local pressure difference induced by the props.". If it's a linear scaling, it should be Pascals per something. The code uses the scale as |
libraries/AP_Baro/AP_Baro.cpp
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| AP_GROUPINFO("1_THST_SCALE", 25, AP_Baro, sensors[0].mot_scale, 0), | ||
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| #if BARO_MAX_INSTANCES > 1 | ||
| // @Param: 2_THST_SCALE |
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i think we should only put it on the first baro, I think this issue can only happen on really tiny vehicles, and fixing just one baro should be enough (just to reduce the params). We could keep the variable in the common structure, but it would just be zero
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@IamPete1 also suggested upside down props for the test, see if the effect is changed
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I suspect part of the reason is that the props and motors are already on the underside of the vehicle, pushing away from the FC
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It'd be nice if we could get other devs with whoops to give it a try as well |
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| @@ -103,3 +103,7 @@ | |||
| // this allows for using the simple model with the --ekf-single configure option | |||
| #define AP_BARO_1976_STANDARD_ATMOSPHERE_ENABLED HAL_WITH_EKF_DOUBLE || AP_SIM_ENABLED | |||
| #endif | |||
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| #ifndef AP_BARO_THST_COMP_ENABLED | |||
| #define AP_BARO_THST_COMP_ENABLED 1 | |||
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I think it would be good if we only enabled this on the boards/vehicles that really need it. It's just a small part of keeping complexity for the user down
This allows a user to apply a linear pressure compensation to a baro based on thrust output. On a small whoop there is a very causal relationship between pressure and throttle:
By applying this offset the effect can be normalized:
Set by using ```BAROx_THST_SCALE"