400a4b0bdb
AP_RangeFinder - changed example sketch to work with new Filter library
2012-02-28 21:02:10 +09:00
5b89c65d9c
Filter - updated example sketch to use modified library
2012-02-28 21:01:35 +09:00
d17a015df1
Filter - added AverageFilter, removed SumFilter
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added FilterWithBuffer to allow removal of malloc/free without losing ability to pass around filter objects
2012-02-28 21:01:11 +09:00
078268528e
AP_Param: show numerical value in eeprom dump utility
2012-02-28 09:43:49 +11:00
701da6c30f
AP_Param: fixed v.load() on a sub-element of a AP_Vector3f
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this isn't actually used at the moment in APM, but we should get it
right in case someone does try to load a single element of a vector
2012-02-28 09:43:49 +11:00
34f1ebcfb4
SITL: simulate noise on each ADC channel separately
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scale the noise based on the period of the motors
2012-02-28 09:43:49 +11:00
4cdc0a8c11
SITL: raise the ADC noise level to 8 bits when flying
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this is about the level of noise of a aircraft that has a lot of
vibration
2012-02-28 09:43:49 +11:00
b32701e008
IMU: removed unused accel_filtered code
2012-02-28 09:43:49 +11:00
ac44b73951
AP_Param: fixed setting of CAM_P_G in ArduCopter
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the variable CAM_P_G has the same prefix as the CAM_P group. We want
to allow for parameters having a common prefix with a group, so we
need to keep searching after we've found a group that matches the
prefix
2012-02-27 10:54:33 +11:00
7fe4a41c31
AP_Param: make the templating code a bit clearer
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add comments on the arguments, and name them in a clearer way
2012-02-27 10:54:33 +11:00
5bf138fb38
DCM: fixed the sense of the compass GPS test in initial yaw
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we were only disabling null offsets when we didn't have a compass,
which doesn't make much sense!
2012-02-26 22:24:45 +11:00
747e045193
ModeFilter - corrected shadowed variable compiler warning for drop_high_sample
2012-02-26 17:57:28 +09:00
e01477a7a8
Filter - added AverageFilter - this will be used in place of SumFilter because it removes the possibility of overflows
2012-02-26 17:34:36 +09:00
b345529241
Filter - removed shadowing of variables in constructors for Filter, ModeFilter and SumFilter (sorry tridge!)
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increased maximum sample buffer size from 6 to 10
2012-02-26 17:17:46 +09:00
3f0d27ec87
ModeFilter - remove older ModeFilter library (new library is now in Filter directory)
2012-02-26 15:36:23 +09:00
00a1b5cd53
AP_RangeFinder - cut over to use new ModeFilter from Filter library
2012-02-26 15:34:50 +09:00
ae8fd43335
Filter - first version of filter library include ModeFilter
2012-02-26 15:34:05 +09:00
f6f05755d9
AP_Mount - #include FastSerial first to allow it to compile under Arduino 1.0
2012-02-26 15:31:56 +09:00
bd2776aedd
Compass: use constructor to set initial values for _learn and _use_for_yaw
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this ensures they are set if you have MAG_ENABLE==0
2012-02-25 17:36:31 +11:00
56bb74ef36
DCM: disable compass null offsets when setting initial yaw
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we need to ensure the compass null offsets code doesn't see a sudden
yaw change, or it will change the offsets by a large amount very
suddenly
2012-02-25 16:02:24 +11:00
f50f4357ca
Compass: catch the case of a user enabling a compass mid-flight
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if a compass has not been initialised at startup we can't enable it
mid-flight, as we don't have the orientation
2012-02-25 14:51:09 +11:00
3abe035557
DCM: use the new use_for_yaw() compass method
2012-02-25 14:51:09 +11:00
c3319afadd
Compass: added COMPASS_LEARN and COMPASS_USE parameters
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these allow you to control if the compass should be used for yaw and
if it should learn its offsets. This is useful for locking in compass
offsets once they are confirmed to be good, and for learning offsets
without using them in flights.
The default is to behave the same as previously, which is
COMPASS_LEARN=1 and COMPASS_USE=1
2012-02-25 14:51:08 +11:00
051bd78b37
AP_Param: added some comments on AP_Vector3f handling
2012-02-25 11:37:20 +11:00
3cf0eebac8
DCM: don't reset _have_initial_yaw for GPS heading unless very slow
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wait till we reach 1m/s before we reset _have_initial_yaw. This
prevents us continually resetting the DCM matrix if our ground speed
is close to 3m/s.
2012-02-25 11:37:20 +11:00
007a6b8958
AP_Param: added special handling for Vector3f
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We would like to be able to use Vector3f as a parameter while exposing
the individual elements of the vector as MAVLink parameters. This
change to AP_Param makes that possible, by giving AP_Vector3f a dual
personality
2012-02-25 11:37:20 +11:00
1d95137b71
SITL: added -C option to desktop mode
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this allows running APM to stdout, which is useful for test sketches
2012-02-25 11:37:20 +11:00
f221bd13ab
libs: removed unused library GPS_IMU
2012-02-25 11:37:20 +11:00
1a21c78062
libs: removed unusued library GCS_SIMPLE
2012-02-25 11:37:20 +11:00
c63ca9c697
DCM: tidy up use of error_course and in_motion
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in_motion is not a good name now it is also used for the compass
The error_course and heading component values don't need to be part of
the DCM object, they can be on the stack to reduce the memory usage a bit
2012-02-25 11:37:20 +11:00
d5b619218c
DCM: use rotation_matrix_from_euler() to calculate initial yaw
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When we first get a compass reading or we first start motion we need
to setup the DCM matrix with the right yaw. This uses
rotation_matrix_from_euler() to get a DCM matrix corresponding to our
current roll/pitch, but with the correct yaw
2012-02-25 11:37:20 +11:00
48cad8bc25
DCM: use rotation_matrix_from_euler() in matrix reset
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this makes the code a bit easier to read
2012-02-24 11:54:11 +11:00
5009679617
DCM: use calculate_euler_angles() to get eulers from DCM
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this makes the code a bit easier to understand
2012-02-24 11:52:55 +11:00
df6013616e
AP_Math: added rotmat <-> euler functions
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these will make the dcm matrix manipulation easier to understand
2012-02-24 11:52:55 +11:00
50f85835bd
Compass: ensure we don't produce NAN values for compass heading
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this leaves the previous heading values alone if we are at a pitch of
exactly 90 or -90, at which point we can't compute a meaningful
heading
2012-02-24 11:52:55 +11:00
8190204287
AP_Math: added safe_sqrt() function
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this function will never return NAN. It will return zero for negative
numbers.
2012-02-24 11:52:55 +11:00
0acea11152
DCM: tidy up the nan checking in DCM
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use is_nan() on the matrix rather than just on c.x, and add
safe_asin() to the (unused) OUTPUTMODE==2 code.
2012-02-24 11:52:55 +11:00
b4c8d6491a
DCM: added matrix recovery on reset
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when we get a bad DCM error we can recover a matrix corresponding to
the current attitude, making it more likely that the aircraft will be
able to recover
2012-02-24 11:52:55 +11:00
1a32ececb4
AP_Math: added a safe_asin() function
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this adds range checking to asin()
2012-02-24 11:52:55 +11:00
7dd909a16b
AP_Math: added is_nan() methods to vector3f and matrix3f
2012-02-24 11:52:55 +11:00
2a4b7facaa
added set integrator
2012-02-23 09:38:08 -08:00
8707965c15
DCM: changed the sense of floating point range comparison
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This allows us to detect NaN, otherwise NaN values were considered
'in range'
2012-02-23 11:41:26 +11:00
9caa4aeb44
DCM: range check the matrix before calculating pitch
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The asin() in the pitch calculation can only take values between -1
and 1. This change ensures that the value is in range, and if it isn't
then we force a normalization. If that fails we reset the matrix
2012-02-23 08:16:08 +11:00
13693e1a04
DCM: reset more values on renorm blowup
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when DCM blows up, we need to reset a lot more variables to ensure
that any NaN values don't persist
2012-02-23 08:16:08 +11:00
5cfe1ad5dc
DCM: remove the taylor expansion optimisation for renormalisation
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The sqrt() costs about 44usec on a 2560, which is small enough for us
not to worry about the speed.
This also changes the range of values where we declare a blowup to
much less likely, which means we can cope with larger delta_t glitches
2012-02-23 08:16:08 +11:00
f30c721886
AP_Param: added ParamToken type for variable list traversal
2012-02-19 17:05:28 +11:00
669e8e34ea
added a limit to range output
2012-02-18 21:08:17 -08:00
0b369cf78b
Optflow - added reference to FastSerial to resolve compile error on Arduino 1.0.
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also removed reference to DCM (no longer required) and removed some old code.
2012-02-18 18:09:40 +09:00
2472f0a2f3
SITL: increase the amount of noise in the simulated ADC
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this increases the noise to 2 bits, which actually can have the effect
of improving accuracy, as it leads to better averaging
2012-02-18 19:27:15 +11:00
9602b1f91b
DCM: only add in centripetal accel if we have GPS lock
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if we don't have a GPS or the GPS doesn't have a good lock then we
can't rely on the ground speed for adjusting the acceleration vector
2012-02-18 19:27:15 +11:00
rmackay9
Andrew Tridgell
Jason Short