Commit Graph

219 Commits

Author SHA1 Message Date
Andrew Tridgell 8b53f1272a AHRS: new functions to support APM_Control library 2012-08-22 12:42:37 +10:00
uncrustify af588679b9 uncrustify libraries/AP_AHRS/AP_AHRS.h 2012-08-21 19:19:51 -07:00
Andrew Tridgell 6d28b3519f AHRS: removed AP_AHRS_Quaternion
this AHRS backend is causing compiler errors with the Arduino build
environment on windows. The quaternion AHRS backend is currently not
being developed/supported anyway. We can resurrect it if someone wants
to start developing it again.
2012-08-22 10:41:31 +10:00
Andrew Tridgell 134cd51d17 AHRS: moved var_info[] into top level AP_AHRS class 2012-08-21 15:58:09 +10:00
Andrew Tridgell ac72db8f00 AHRS: added set_fast_gains() method
this will be used by arducopter on the ground
2012-08-21 15:38:06 +10:00
Andrew Tridgell 9b4b7997b6 AHRS: added ahrs.yaw_initialised()
this allows the high level code to know if the AHRS driver has a
reliable yaw estimate
2012-08-15 12:39:34 +10:00
Andrew Tridgell 48e275e22d AHRS: avoid a compiler bug in quaternion code
Having _wind in the AP_AHRS class causes a register allocation error
when building the Quaternion code with some versions of avr-gcc. Quite
bizarre.
2012-08-13 11:08:10 +10:00
Andrew Tridgell 779dacfd24 AHRS: added wind estimation code
this allows us to estimate the wind while we have GPS lock, then use
that estimate in the long term dead reckoning
2012-08-11 22:06:03 +10:00
Andrew Tridgell af4071894e AHRS: added long-term dead-reckoning
this uses airspeed (if available) or last GPS ground speed to update
our position estimate in AHRS
2012-08-11 12:00:31 +10:00
Andrew Tridgell f95b06a880 AHRS: make airspeed sensor available to AHRS
this will be used for long term dead-reckoning
2012-08-11 08:57:32 +10:00
rmackay9 b844bb7919 AP_AHRS: removed var_info from AP_AHRS class (moved to AP_AHRS_DCM) 2012-07-28 14:16:56 +09:00
Andrew Tridgell 58c4d458dc AHRS: re-instate new DCM drift correction code
This reverts commit 078489638d47fbaffde7c51249e36b5a8fc4ef9d.
2012-06-28 11:09:22 +10:00
Andrew Tridgell fd241692d0 AHRS: revert to the old drift correction algorithm
we need to work out why Craigs quad flipped today before we enable
this new drift correction
2012-06-27 18:16:41 +10:00
Andrew Tridgell 3a41ad8e7c AHRS: normalize the ge vector in drift correction, and use barometer
The normalisation ensures the error term scales uniformly with
different accelerations.

The barometer is used for vertical acceleration estimation
2012-06-27 16:01:50 +10:00
Andrew Tridgell 0f5c22bd8e AHRS: implement Bills new drift correction algorithm
this is an initial implementation of this paper:

  http://gentlenav.googlecode.com/files/RollPitchDriftCompensation.pdf
2012-06-27 16:01:49 +10:00
Andrew Tridgell f27d85cb8d DCM: drop the 'drop z' method
the 'drop z' method reduced the impact of noise on omegaI, but it also
made us more sensitive to errors in accelerometer calibration and
scaling, as demonstated by the logs from Gabor here:

  http://diydrones.com/xn/detail/705844:Comment:834373

Simulation testing shows that the other noise suppression methods
applied in the DCM code, in particular the slope limiting on omegaI
the removal of the weighting and the upcoming use of a _omega_I_sum
buffer have reduced the impact of noise enough that we can now safely
include z in the acceleration calculation.
2012-04-23 12:13:24 +10:00
Andrew Tridgell 8e90aeea4e AHRS: added AHRS_YAW_P parameter
this allows users to change the yaw gain in DCM
2012-04-16 20:55:13 +10:00
rmackay9 c96dfb2108 AP_AHRS - changed parameter order to remove compiler warning 2012-04-09 17:37:11 +09:00
Andrew Tridgell 9e6c18cca4 AHRS: added missing AP_AHRS.h 2012-03-19 17:35:20 +11:00