Lucas De Marchi
d60b4842b6
AP_HAL_Linux: reduce scope of dummy buffer
2016-10-27 10:35:01 -03:00
Lucas De Marchi
76f1e4243a
AP_HAL_Linux: remove double assignment
...
_dma_packet_tx.crc is already assigned below, we don't neet to set it to
0 before. While at it move the assignment to .crc up and fix coding
style.
2016-10-27 10:35:01 -03:00
Lucas De Marchi
c898b28962
AP_HAL_Linux: use MIN where possible
2016-10-27 10:35:01 -03:00
Lucas De Marchi
05a7eef1a2
RingBuffer: use explict "if" and return early
...
Remove confusing use of ternary operator together with assign + load.
No change in behavior.
2016-10-27 10:35:01 -03:00
Andrew Tridgell
e8b9c815fc
Copter: updates for EKF API changes
2016-10-27 17:09:06 +11:00
Andrew Tridgell
b65c559558
Plane: updates for EKF API changes
2016-10-27 17:09:06 +11:00
Andrew Tridgell
82365f8670
AP_NavEKF2: save some memory in the position offsets in EKF2
...
we don't need to copy that vector3f for every sample. A uint8_t does
the job
2016-10-27 17:09:06 +11:00
Andrew Tridgell
a05d216ce4
AP_NavEKF: make posOffset const ref for optflow
2016-10-27 15:45:40 +11:00
Andrew Tridgell
772209b3f3
AP_AHRS: make posOffset a const reference
2016-10-27 15:45:24 +11:00
Andrew Tridgell
703ef0ca0e
AP_RangeFinder: added get_primary() API
2016-10-27 15:45:07 +11:00
Andrew Tridgell
afe2c31ae7
AP_Inertial_Sensor: use const reference
2016-10-27 15:06:11 +11:00
Andrew Tridgell
af332cb336
AP_GPS: use const reference
2016-10-27 15:05:58 +11:00
Andrew Tridgell
27cdf220de
AP_RangeFinder: use const reference
2016-10-27 14:59:10 +11:00
Andrew Tridgell
047a09c391
AP_OpticalFlow: use const reference
...
saves stack space and cpu
2016-10-27 14:58:59 +11:00
priseborough
f722ddf615
AP_RangeFinder: Update parameter documentation
...
Add brief description of body frame conventions.
2016-10-27 14:54:45 +11:00
priseborough
1bde180f98
AP_OpticalFlow: Update parameter documentation
...
Add brief description of body frame conventions.
2016-10-27 14:54:45 +11:00
priseborough
1dec6dd9b0
AP_GPS: Update parameter documentation
...
Add brief description of body frame conventions.
2016-10-27 14:54:45 +11:00
priseborough
7460d97c9a
AP_InertialSensor: Update parameter documentation
...
Add brief description of body frame conventions.
2016-10-27 14:54:45 +11:00
priseborough
470f5c4562
AP_InertialSensor: Correct SITL IMU1 accel for position in body frame
2016-10-27 14:54:45 +11:00
priseborough
d830f68901
SITL: Add angular acceleration to simulator states
...
The calculation used is an approximation to work around the lack of angular acceleration in the interface with the flight dynamics model.
2016-10-27 14:54:44 +11:00
priseborough
747f3a8cfd
AP_HAL_SITL: Simulate range finder position offset
2016-10-27 14:54:44 +11:00
priseborough
a9f63abc6f
AP_HAL_SITL: simulate effect of GPS antenna offset
2016-10-27 14:54:44 +11:00
priseborough
3afe2b1694
AP_HAL_SITL: simulate optical flow sensor body frame position offset
2016-10-27 14:54:44 +11:00
priseborough
27dab27565
SITL: Add parameters for sensor position offsets in body frame
2016-10-27 14:54:44 +11:00
priseborough
4499ed437c
AP_RangeFinder: remove space before preprocessor directive
2016-10-27 14:54:44 +11:00
priseborough
3ca6c12344
AP_RangeFinder: Improve consistency of parameter naming
2016-10-27 14:54:44 +11:00
priseborough
c93c3d54f3
AP_NavEKF2: Don't correct for zero IMU position offset
...
The IMU offset correction involves a significant number of floating point operations and most users will leave the offset parameter at zero.
2016-10-27 14:54:44 +11:00
priseborough
1890bbdafa
AP_NavEKF2: Don't correct GPS for zero position offset
2016-10-27 14:54:44 +11:00
priseborough
f025c96e63
AP_NavEKF2: Don't correct range finder for zero position offset
2016-10-27 14:54:43 +11:00
priseborough
9a0ce1d5eb
AP_NavEKF2: Don't correct flow sensor for zero position offset
2016-10-27 14:54:43 +11:00
priseborough
b40016db62
AP_NavEKF2: Fix documentation errors
2016-10-27 14:54:43 +11:00
priseborough
54a431a51d
AP_InertialSensor: Update position offset parameter documentation
...
Notify users of the potential for velocity noise when using larger offset values..
Specific advice in terms of values has not been provided because it is highly dependent on Gyro noise levels.
2016-10-27 14:54:43 +11:00
priseborough
13ca62b1c7
AP_NavEKF2: Correct velocity and position outputs for IMU offset
...
This can improve position hold performance where it is not practical to have the IMU located at the centroid.
Although this enables the effect of IMU position offsets to be corrected, users will still need to be instructed to place the IMU as close to the vehicle c.g. as practical as correcting for large offsets makes the velocity estimates noisy.
2016-10-27 14:54:43 +11:00
priseborough
21dcf42c27
AP_NavEKF2: Add missing documentation
2016-10-27 14:54:43 +11:00
priseborough
8922861359
AP_NavEKF2: Correct optical flow data for sensor position offset
...
Correction requires the body rates averaged across the flow sensor sampling interval. This data has been added to the sensor buffer.
The body rate data from the flow sensor driver does not contain the Z component, so an equivalent value sampled from the navigation IMU has been used instead.
The variable omegaAcrossFlowTime has been moved out of the class and into the only function that uses it.
2016-10-27 14:54:43 +11:00
priseborough
16f021c466
AP_NavEKF2: Correct range finder data for body frame position offset
2016-10-27 14:54:43 +11:00
priseborough
e884e9cc6e
AP_NavEKF2: Correct GPS data for antenna body frame offset
2016-10-27 14:54:43 +11:00
priseborough
064a106808
AP_NavEKF2: Get IMU accelerometer body position offset data
2016-10-27 14:54:42 +11:00
priseborough
397033b7c3
AP_NavEKF2: Add flow sensor body position offset to data buffer
2016-10-27 14:54:42 +11:00
priseborough
92c086b40e
AP_NavEKF2: Add rangefinder body position offset to data buffer
2016-10-27 14:54:42 +11:00
priseborough
3148ad4623
AP_NavEKF2: Add GPS antenna position offset data to data buffer
2016-10-27 14:54:42 +11:00
priseborough
72db2ebd81
Plane: Add compensation for optical flow sensor body position offset
2016-10-27 14:54:42 +11:00
priseborough
209e364190
Copter: Add body position offset to optical flow interface
2016-10-27 14:54:42 +11:00
priseborough
fd905c23e1
AP_NavEKF2: Add body position offset to optical flow interface
2016-10-27 14:54:42 +11:00
priseborough
8160eca47e
AP_NavEKF: update flow sensor interface
...
Adds a position offset which is not used by the backend
2016-10-27 14:54:42 +11:00
priseborough
6069c37b19
AP_AHRS: add position offset to optical flow interface
2016-10-27 14:54:42 +11:00
priseborough
9c7ab639a1
AP_OpticalFlow: Add parameters for flow sensor position offset
2016-10-27 14:54:41 +11:00
priseborough
24f9e7365d
AP_RangeFinder: Add parameters defining sensor position offset
2016-10-27 14:54:41 +11:00
priseborough
6db93d8a21
AP_InertialSensor: Add parameters defining accelerometer position offset
2016-10-27 14:54:41 +11:00
priseborough
b51c9dea6c
AP_GPS: Add parameters defining antenna offset in body frame
2016-10-27 14:54:41 +11:00
