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[Altitude Hold][MS5611 Is detected and outputs pressure value on log but drone still uses velocity based altitude/height hold] #89

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saaraswata opened this issue Sep 27, 2024 · 2 comments
Open

[Altitude Hold][MS5611 Is detected and outputs pressure value on log but drone still uses velocity based altitude/height hold] #89

saaraswata opened this issue Sep 27, 2024 · 2 comments
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enhancement New feature or request

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@saaraswata
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Describe the bug
Ms5611 is detected and gives appropriate pressure value. I have implemented it from HukeIOT repository. But it seems that the drone still uses velocity based altitude/height hold due to which drone either very slowly climbs to the ceiling or goes down to the floor while using height hold/altitude hold.

Version (please complete the following information):

  • IDF Version: 4.4.8
  • SoC Chip: ESP32 Wroom 32D
  • Hardware: ESP 32 Devkit C

To Reproduce
Steps to reproduce the behavior:

  1. Go to cfclient ,attach joystick and use alt/height hold, also watch the sensor plotter for the barometer
  2. Modified on
  3. See error

Expected behavior
Barometer gives height based on pressure

Logs
Normal Logs nothing special.

Error
The plotter shows changes when the move th drone up or down and then goes back to normal which means it's using imu for velocity based height hold and not the barometer.
@leeebo
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leeebo commented Oct 8, 2024

@saaraswata Hi, Barometer data currently does not participate in the final calculations.

@leeebo leeebo added the enhancement New feature or request label Oct 8, 2024
@saaraswata
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Which file should I be looking at to configure the drone to use baro data as well?

vishwamartur added a commit to vishwamartur/esp-drone that referenced this issue Nov 26, 2024
@vishwamartur
Use barometer data for altitude hold
c737c77 
Related to espressif#89

Implement the use of barometer data for altitude/height hold.

* **Process Barometer Measurements**
  - Implement the `processBarometerMeasurements` function in `sensors_mpu6050_hm5883L_ms5611.c` to process barometer data from the MS5611 sensor.
  - Update the `sensorsSetupSlaveRead` function to configure the MS5611 sensor for reading pressure and temperature data.
  - Update the `sensorsTask` function to call `processBarometerMeasurements` when barometer data is available.

* **Altitude Estimation**
  - Update the `positionEstimateInternal` function in `position_estimator_altitude.c` to incorporate barometer data for altitude estimation.
  - Add a blending factor `baroAlpha` for barometer data in the `selfState_s` structure.

* **Vertical Velocity Update**
  - Update the `positionUpdateVelocityInternal` function in `position_estimator_altitude.c` to update the vertical velocity using barometer data.
  - Add a blending factor `baroAlpha` for barometer data in the `selfState_s` structure.

* **Parameter Addition**
  - Add a new parameter `baroAlpha` to the `posEstAlt` parameter group in `position_estimator_altitude.c`.
@vishwamartur vishwamartur mentioned this issue Nov 26, 2024
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@leeebo @saaraswata