garlinplus

a bug with calc_next_comm_timing_fast

10

calc_next_comm_timing_fast: ; Calculate new commutation time mov Temp3, Comm_Period4x_L ; Comm_Period4x(-l-h) holds the time of 4 commutations mov Temp4, Comm_Period4x_H mov A, Temp4 ; Divide by 2 4 times swap...

### Describe the issue When one commutation is finished,the timer2 counter is set with Wt_ZC_Tout_Start, in order to know whether zero cross check is timeout. But when a new zero...

when Flags0.DEMAG_DETECTED is set,if a wrong comparator value is get,the timeout timer delay value of Wt_Zc_Tout_Start is reset. So the Wt_Zc_Tout_Start delay value is not of meanning,because when a new...

When one commutation is finished,the timer2 counter is set with Wt_ZC_Tout_Start, in order to know whether zero cross check is timeout. But when a new zero cross point checking start,Flags0.DEMAG_DETECTED...

const Vector3f pos_offset_earth = _R_to_earth * pos_offset_body; _gps_sample_delayed.pos -= pos_offset_earth.xy(); _gps_sample_delayed.hgt += pos_offset_earth(2); pos_offset_earth.xy() is slice type and _gps_sample_delayed.pos is vector2f type. if (_control_status.flags.ev_pos) { Vector3f ev_pos_obs_var; Vector2f ev_pos_innov_gates; //...

ekf terrain process

5

When quadrotor fly cross step surface, ranger measure a gap.When in ranger fusion mode,how to process this situation to make measured height no jump point?

some think about ekf2 framework

2

In current ekf2 framework, ekf estimator run in internal layer,and complementary filter run in extern layer. Can we use two thread to run these,one thread for complmentary filter and one...

Centralize pos and vel reset (use request flag)

1

In ecl ekf code, there are so many calling of reset position and vel. But in reset position and reset velocity function,the related control status flag in them.Their code as...