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140 Commits

Author SHA1 Message Date
Randy Mackay c20eac7a70 AP_InertialNav: use standard LATLON_TO_CM, DEG_TO_RAD constants 2013-05-04 15:04:55 +09:00
Randy Mackay 8122a32114 InertialNav: reduce XY TC to 2.5 (was 3) 
More objective testing is required to arrive at the ideal number but 2.5
seem better than 3.0 at reducing "toiletbowling" and anecdotal evidence
does not show much downside.
 2013-04-30 12:52:28 +09:00
Andrew Tridgell 1849aca0e9 AP_InertialNav: optimise some multiplies 2013-04-22 13:26:49 +10:00
Andrew Tridgell 3d325043b0 AP_InertialNav: make some more functions const 2013-04-22 12:21:58 +10:00
Andrew Tridgell 08c57c2587 AP_InertialNav: reduce number of multiplies 2013-04-22 12:21:58 +10:00
Andrew Tridgell 0a25d6220a AP_InertialNav: initialise _gps_last_time 
found with valgrind
 2013-04-17 23:02:13 +10:00
Andrew Tridgell b69481f74d AP_InertialNav: fixed build of example 2013-04-15 14:09:38 +10:00
Randy Mackay fc972e2d42 InertialNav: add get_velocity method 2013-04-14 10:38:23 +09:00
Randy Mackay cdb532a594 Copter: bug fix for loiter target 2013-04-11 18:24:20 +09:00
Randy Mackay 777c6a308e AP_InertialNav: use shared GRAVITY_MSS constant 2013-04-05 11:48:41 +09:00
Randy Mackay 6816c45c39 InertialNav: reduce Z-axis time constant to 5 2013-04-01 11:51:12 +09:00
Randy Mackay 38e81adae0 InertialNav: remove unnecessary "virtual" from function definitions 
This saves about 30bytes of RAM
 2013-03-19 17:51:16 +09:00
Randy Mackay c9571ad543 InertialNav: remove 3sec limit on position est after losing GPS 2013-03-16 18:15:59 +09:00
rmackay9 6f1035debc InertialNav: added 300ms timeout after which error from gps heading will be set to zero 2013-01-22 18:37:54 +09:00
Jonathan Challinger 6565d83e73 InertialNav: Fixed signs, remove body-frame rotation, apply correction at 100hz. 2013-01-22 18:37:45 +09:00
James Bielman 5631f865b2 Update floating point calculations to use floats instead of doubles. 
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
 2013-01-16 13:52:01 +11:00
Randy Mackay 109b1069d8 AP_InertialNav: added constraint to how large local accelerometer offset corrections can become 2013-01-13 19:55:09 +11:00
James Bielman 264db3670e AP_Baro: Add CONFIG_MS5611_SERIAL option to choose between SPI and I2C. 
- Update ArduCopter and ArduPlane modules to pass the correct serial
  driver to the MS5611 driver.
- Update barometer examples, assuming SPI.
 2013-01-03 13:48:06 -08:00
rmackay9 55e6544e64 AP_InertialNav: added parameter descriptions 2013-01-02 16:17:00 +09:00
Andrew Tridgell 374af1cd14 build: change from Arduino.mk to apm.mk 2013-01-02 17:29:37 +11:00
rmackay9 92e271e517 AP_InertialNav: increase baro delay to 0.5 sec (was 0.2sec) to allow slower baro updates on APM1 2013-01-02 09:55:37 +11:00
rmackay9 af4d998697 AP_InertialNav: correct lat/lon to cm 2013-01-02 09:55:37 +11:00
rmackay9 37b56662bd AP_InertialNav: Jason's bug fix to inertial nav velocity and position calculations 2013-01-02 09:19:39 +11:00
rmackay9 41cc1c74d8 AP_InertialNav: increase time constant for Z axis to 7 seconds 2013-01-02 09:19:17 +11:00
rmackay9 557f4e65de AP_InertialNav: small performance improvement by replacing mul_transpose with direct multiplication of Z axis accel correction to specific elements of dcm 2013-01-02 09:12:40 +11:00
rmackay9 e9fa5dec0f AP_InertialNav: make use of ahrs library's get_accel_ef method to save some cpu cycles 2013-01-02 09:11:25 +11:00
Andrew Tridgell 463a089e5c InertialNav: fixed example build 2012-12-22 12:50:31 +11:00
Andrew Tridgell a1187519a8 AP_HAL: use AP_HAL_BOARD_DRIVER in remaining test sketches 2012-12-20 14:52:37 +11:00
Pat Hickey eb530b86e8 move Arduino.mk to /mk/Arduino.mk 2012-12-20 14:52:35 +11:00
Andrew Tridgell 7d27e420ae AP_HAL: remove unnecessary Arduino.h includes 2012-12-20 14:52:30 +11:00
Andrew Tridgell 62e396167a AP_InertialNav: updates for new AP_Param API 2012-12-20 14:51:39 +11:00
Pat Hickey f935f1ae31 AP_InertialNav: did my best at a meaningful test sketch 
* the existing test sketch was just the InertialSensor test
 2012-12-20 14:51:30 +11:00
Pat Hickey af4806666f AP_InertialNav: ported to AP_HAL 2012-12-20 14:51:30 +11:00
rmackay9 6cf94e20e7 AP_InertialNav_test: small change to #include in example sketch 2012-12-10 00:49:09 +09:00
rmackay9 154e3c33f7 ArduCopter, AP_InertialNav: consolidated ThirdOrderComplementaryFilter into AP_InertialNav to save about 200bytes of RAM 2012-12-10 00:43:11 +09:00
rmackay9 35f94a6f71 AP_InertialNav: increase Z axis default time constant to 3.0 (was 1.5) 2012-12-07 12:57:12 +09:00
Andrew Tridgell c7dd042909 InertialNav: update example for new interface 2012-11-30 07:15:19 +11:00
rmackay9 b13264c884 AP_InertialNav: reanme AP_InertialNav and ThirdOrderCompFilter classes to resolve desktop build compiler errors 2012-11-07 22:24:00 +09:00
rmackay9 61dd405910 AP_InertialNav: removed IMU.h to fix compiler error from example sketch 2012-11-07 19:48:13 +09:00
rmackay9 7f190b8494 AP_InertialNav: first implementation of inertial nav library 2012-11-07 19:20:49 +09:00