Version 5.4 commit - has updated attitude shifting in the ahrs algorithm

mwavionics · Apr 9, 2019 · 5695154 · 5695154
1 parent 9df5016
commit 5695154
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Showing 3 changed files with 4 additions and 3 deletions.
diff --git a/ExEFIS/ExEFIS.cpp b/ExEFIS/ExEFIS.cpp
@@ -26,7 +26,7 @@ int main(int argc, char *argv[])
 
 	/* Start some String outputs in case you are launching the app with loggint enabled */
 	qDebug("****************** LOG BEGINS HERE **************************");
-	qDebug("Version 5.3 - Added settings file and Attitude Adjust ");
+	qDebug("Version 5.4 - Added settings file and Attitude Adjust - added attitude offset for Filter ");
 
 	system("cat /proc/cpuinfo | grep Serial | cut -d ' ' -f 2");
 	system("gpio mode 26 out");

diff --git a/ExEFIS/SKFilter.cpp b/ExEFIS/SKFilter.cpp
@@ -436,7 +436,7 @@ bool SKFilter::update(float gx, float gy, float gz, float ax, float ay, float az
 			acState.turning = !axisstill.gyroyaw || !axisstill.magyaw;
 			acState.wingslevel = (!acState.turning && acState.ballcentered);
 			acState.oneG = (abs(1.0f - totalmag) <= 0.012f);
-			acState.pitchlevel = acState.oneG && acState.pitchstill && abs(_accelEuler[1] - attitudeOffset) < 0.02 && !acState.turning;
+			acState.pitchlevel = acState.oneG && acState.pitchstill && abs(_accelEuler[1] - attitudeOffset) < 0.05 && !acState.turning;
 
 
 			if (acState.pitchlevel)

diff --git a/ExEFIS/adhrs.cpp b/ExEFIS/adhrs.cpp
@@ -495,7 +495,8 @@ void adhrs::setSteerToSettings(int* steerto)
 
 void adhrs::setAttitudeOffset(int offset_deg)
 {
-	hrs->setAttitudeOffset((float)(offset_deg*M_PI/180.0f));
+	//Note the negative here to account for the opposite of the level flag in the AHRS
+	hrs->setAttitudeOffset((float)(-offset_deg*M_PI/180.0f));
 }