Changes to DCM and IMU libraries to put accel into m/s^2 units

git-svn-id: https://arducopter.googlecode.com/svn/trunk@757 f9c3cf11-9bcb-44bc-f272-b75c42450872

libraries/AP_DCM/AP_DCM_FW.cpp

@@ -1,19 +1,43 @@
+/*
+	APM_DCM_FW.cpp - DCM AHRS Library, fixed wing version, for Ardupilot Mega
+		Code by Doug Weibel, Jordi Muñoz and Jose Julio. DIYDrones.com
 
+	This library works with the ArduPilot Mega and "Oilpan"
+	
+	This library is free software; you can redistribute it and/or
+    modify it under the terms of the GNU Lesser General Public
+    License as published by the Free Software Foundation; either
+    version 2.1 of the License, or (at your option) any later version.
+
+        Methods:
+                quick_init()		: For air restart
+                init() 				: For ground start.  Calibrates the IMU
+				update_DCM(_G_Dt)	: Updates the AHRS by integrating the rotation matrix over time _G_Dt using the IMU object data
+				get_roll_sensor()	: Returns roll in degrees * 100
+				get_roll()			: Returns roll in radians
+				get_pitch_sensor()	: Returns pitch in degrees * 100
+				get_pitch()			: Returns pitch in radians
+				get_yaw_sensor()	: Returns yaw in degrees * 100
+				get_yaw()			: Returns yaw in radians
+
+*/
 #include <AP_DCM_FW.h>
 
 #define OUTPUTMODE 1	// This is just used for debugging, remove later
+#define TRUE 1
+#define FALSE 0
 
 
 #define ToRad(x) (x*0.01745329252)	// *pi/180
 #define ToDeg(x) (x*57.2957795131)	// *180/pi
 
-#define Kp_ROLLPITCH 0.5852	 		// .0014 * 418 Pitch&Roll Drift Correction Proportional Gain
-#define Ki_ROLLPITCH 0.0001254 		// 0.0000003 * 418 Pitch&Roll Drift Correction Integrator Gain
+#define Kp_ROLLPITCH 0.05967 		// .0014 * 418/9.81 Pitch&Roll Drift Correction Proportional Gain
+#define Ki_ROLLPITCH 0.00001278		// 0.0000003 * 418/9.81 Pitch&Roll Drift Correction Integrator Gain
 #define Kp_YAW 0.8		 			// Yaw Drift Correction Porportional Gain	
 #define Ki_YAW 0.00004 				// Yaw Drift CorrectionIntegrator Gain
 
 
-#define SPEEDFILT 400			// centimeters/second
+#define SPEEDFILT 300			// centimeters/second
 #define ADC_CONSTRAINT 900
 
 
@@ -154,11 +178,11 @@ AP_DCM_FW::_accel_adjust(void)
 	Vector3f _veloc, _temp;
 	float _vel;
 	
-	_veloc.x = (_gps->ground_speed / 100) / 9.81;		// We are working with acceleration in g units
+	_veloc.x = _gps->ground_speed / 100;		// We are working with acceleration in m/s^2 units
 	
 	//_accel_vector += _omega_integ_corr % _veloc;		// Equation 26  This line is giving the compiler a problem so we break it up below
 	_temp.y = _omega_integ_corr.z * _veloc.x; 			// only computing the non-zero terms
-	_temp.z = -1.0f * _omega_integ_corr.y * _veloc.x; 
+	_temp.z = -1.0f * _omega_integ_corr.y * _veloc.x;	// After looking at the compiler issue lets remove _veloc and simlify 
 
 	_accel_vector -= _temp;
 	
@@ -234,11 +258,12 @@ AP_DCM_FW::drift_correction(void)
 	float accel_magnitude;
 	float accel_weight;
 	float integrator_magnitude;
+	static bool last_speed_below_thresh = TRUE;
 	
 	//*****Roll and Pitch***************
 
 	// Calculate the magnitude of the accelerometer vector
-	accel_magnitude = _accel_vector.length();
+	accel_magnitude = _accel_vector.length() / 9.80665f;
 
 	// Dynamic weighting of accelerometer info (reliability filter)
 	// Weight for accelerometer info (<0.5G = 0.0, 1G = 1.0 , >1.5G = 0.0)
@@ -268,7 +293,11 @@ AP_DCM_FW::drift_correction(void)
 		error_course= (_dcm_matrix.a.x * _compass->Heading_Y) - (_dcm_matrix.b.x * _compass->Heading_X);	// Equation 23, Calculating YAW error	
 	} else {
 		// Use GPS Ground course to correct yaw gyro drift
-		if (_gps->ground_speed >= SPEEDFILT) {
+		if (_gps->ground_speed >= SPEEDFILT && last_speed_below_thresh) {
+			last_speed_below_thresh = FALSE;
+			//  *** Need to put code here to compute the rotation matrix to update the DCM matrix to the correct yaw value now that we have a reference.
+			//  *** Not having that code at present doesn't really hurt anything.  It just delays the beginning of yaw drift correction by 1 gps sample in time.
+		} else if (_gps->ground_speed >= SPEEDFILT) {
 			_course_over_ground_x = cos(ToRad(_gps->ground_course/100.0));
 			_course_over_ground_y = sin(ToRad(_gps->ground_course/100.0));
 			// Optimization: Pass these in as arguments to update so they don't have to be calculated here and the AP code
@@ -276,6 +305,7 @@ AP_DCM_FW::drift_correction(void)
 			error_course = (_dcm_matrix.a.x * _course_over_ground_y) - (_dcm_matrix.b.x * _course_over_ground_x);	// Equation 23, Calculating YAW error
 		} else {
 			error_course = 0;
+			last_speed_below_thresh = TRUE;
 		}
 	}	
 	

libraries/AP_DCM/AP_DCM_FW.h

@@ -64,8 +64,6 @@ private:
 	
 	Matrix3f	_dcm_matrix;
 
-	float 		_adc_in[6];					// array that store the 6 ADC channels used by IMU
-	float 		_adc_offset[6]; 			// Array that store the Offset of the gyros and accelerometers
 	Vector3f 	_accel_vector;				// Store the acceleration in a vector
 	Vector3f 	_gyro_vector;				//Store the gyros turn rate in a vector
 	Vector3f	_omega_P;					//Omega Proportional correction
@@ -78,11 +76,6 @@ private:
 	float 		_course_over_ground_x; 		//Course overground X axis
 	float 		_course_over_ground_y; 		//Course overground Y axis
 
-	// constants
-	static const uint8_t	_sensors[6];
-	static const int    	_sensor_signs[9];
-	static const uint8_t	_gyro_temp_ch = 3; 						// The ADC channel reading the gyro temperature
-	static const float 		_gyro_temp_curve[3][3];
 };
 
 #endif

libraries/AP_IMU/AP_IMU.cpp

@@ -1,3 +1,21 @@
+/*
+	APM_IMU.cpp - IMU Sensor Library for Ardupilot Mega
+		Code by Doug Weibel, Jordi Muñoz and Jose Julio. DIYDrones.com
+
+	This library works with the ArduPilot Mega and "Oilpan"
+	
+	This library is free software; you can redistribute it and/or
+    modify it under the terms of the GNU Lesser General Public
+    License as published by the Free Software Foundation; either
+    version 2.1 of the License, or (at your option) any later version.
+
+        Methods:
+                quick_init()	: For air restart
+                init() 			: For ground start.  Calibration
+				get_gyro()		: Returns gyro vector.  Elements in radians/second
+				get_accel()		: Returns acceleration vector.  Elements in meters/seconds squared
+
+*/
 
 #include <AP_IMU.h>
 
@@ -8,7 +26,7 @@
 // ADXL335 Sensitivity(from datasheet) => 330mV/g, 0.8mV/ADC step => 330/0.8 = 412
 // Tested value : 418
 #define GRAVITY 418 //this equivalent to 1G in the raw data coming from the accelerometer 
-#define accel_scale(x) (x/GRAVITY)//Scaling the raw data of the accel to actual acceleration in meters per second squared
+#define accel_scale(x) (x*9.80665/GRAVITY)//Scaling the raw data of the accel to actual acceleration in meters per second squared
 
 #define ToRad(x) (x*0.01745329252)	// *pi/180
 #define ToDeg(x) (x*57.2957795131)	// *180/pi

libraries/AP_IMU/AP_IMU.h

@@ -18,7 +18,7 @@ public:
 	void		quick_init(void);				// For air start
 	void		init(void);						// For ground start
 	Vector3f	get_gyro(void);					// Radians/second
-	Vector3f	get_accel(void);				// G units 
+	Vector3f	get_accel(void);				// meters/seconds squared
 
 	// Members
 	uint8_t 	gyro_sat_count;
@@ -34,7 +34,7 @@ private:
 	float 		_adc_in[6];					// array that store the 6 ADC channels used by IMU
 	float 		_adc_offset[6]; 			// Array that store the Offset of the gyros and accelerometers
 	Vector3f 	_accel_vector;				// Store the acceleration in a vector
-	Vector3f 	_gyro_vector;				//Store the gyros turn rate in a vector
+	Vector3f 	_gyro_vector;				// Store the gyros turn rate in a vector
 
 	// constants
 	static const uint8_t	_sensors[6];