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1437 Commits

Author SHA1 Message Date
Adam M Rivera
94d1c48544 AP_Declination: Increased range of supported latitude coordinates. 
Fixed incorrect type usage to save stack space.

Signed-off-by: Andrew Tridgell <tridge@samba.org>
 2012-03-11 20:59:47 +11:00
Adam M Rivera
1709403b87 Added AP_Declination test sketch. I will be improving the test sketch soon. 
Signed-off-by: Andrew Tridgell <tridge@samba.org>
 2012-03-11 20:59:47 +11:00
Adam M Rivera
3f28184cb0 Added AP_Declination library. It contains the lookup table (lat/lng -> declination) as well as a method that performs the lookup. 
Signed-off-by: Andrew Tridgell <tridge@samba.org>
 2012-03-11 20:59:47 +11:00
Andrew Tridgell
d4aa0a4879 Compass: removed an incorrect comment 2012-03-11 20:07:38 +11:00
Andrew Tridgell
a20f57c59e Compass: don't save the orientation to EEPROM 
there is no point in saving this, the value is only configurable at
compile time for now, and is always set
 2012-03-11 15:37:07 +11:00
Andrew Tridgell
cc1961b1e8 Math: any euler angle with pitch > 90 is invalid 
both DCM and quaternion always return pitch in the range -90 to 90
 2012-03-11 15:37:07 +11:00
Andrew Tridgell
36e92bf4ba Quaternion: update for new Quaternion interface 2012-03-11 15:37:07 +11:00
Andrew Tridgell
eea63ecd6e DCM: update for new Matrix3f interface 2012-03-11 15:37:07 +11:00
Andrew Tridgell
01535a7a21 AP_Math: update the test suite 2012-03-11 15:37:07 +11:00
Andrew Tridgell
6d08e38d5d AP_Math: made rotation matrices more C++ 
thanks to Adam for the suggestion
 2012-03-11 15:37:07 +11:00
Andrew Tridgell
92ada85f49 AP_Math: allow null pointers in Quaternion::to_euler() 
this matches the Matrix3f method
 2012-03-11 15:37:07 +11:00
Andrew Tridgell
18fcb14335 Quaternion: use the new quaternion API 2012-03-11 15:37:07 +11:00
Andrew Tridgell
a9b8c4dd82 AP_Math: re-work quaternion functions to be more C++ like 
thanks to Adam for the suggestion!
 2012-03-11 15:37:07 +11:00
Andrew Tridgell
ea0fb311af I2C: fixed cr/lf mess 2012-03-11 15:37:07 +11:00
Andrew Tridgell
5203df2cf8 OpticalFlow: adapt optical flow library to new rotation system 2012-03-11 15:37:07 +11:00
Andrew Tridgell
7aa6ba2c86 OpticalFlow: fixed line endings 
this library was a mixture of dos and unix line endings, which makes
for very messy editing
 2012-03-11 15:37:07 +11:00
Andrew Tridgell
3c145ab61c Compass: update the compass driver to use the new vector.rotate() method 2012-03-11 15:37:07 +11:00
Andrew Tridgell
24a9fe8827 Math: added a test suite for the new rotation methods 2012-03-11 15:37:07 +11:00
Andrew Tridgell
85c3c1d2ea Math: added vector3.rotate() and matrix3.rotation() methods 
these operate on a "enum Rotation" which defines a set of standard
rotations. These are much faster than our previous method, plus use
less memory
 2012-03-11 15:37:07 +11:00
Andrew Tridgell
a30b03cd0a SITL: lower the noise and drift levels for general autotest usage 2012-03-10 10:34:34 +11:00
Andrew Tridgell
07e8360970 InertialSensor: fixed HIL build 2012-03-10 10:34:34 +11:00
Andrew Tridgell
6d06d9d070 MAVLink: bring the v1.0 MAVLink in sync with 0.9 2012-03-10 10:34:34 +11:00
Andrew Tridgell
fed5426274 DCM: after some experimentation, raise the ki values a bit 
this tracks the max gyro drift more accurately
 2012-03-10 10:34:34 +11:00
Andrew Tridgell
89b4a9f4ed Quaternion: use gyro drift value from sensor driver 2012-03-10 10:34:34 +11:00
Andrew Tridgell
fd74414884 Quaternion: go back to the full update_MARG() 
the separate drift controller is too erratic on yaw hold to be usable
at the moment
 2012-03-10 10:34:34 +11:00
Andrew Tridgell
1002bbcbfe SITL: cleanup the gyro drift calculations 
use units that are more easily understood
 2012-03-10 10:34:34 +11:00
Andrew Tridgell
ad21913605 Quaternion: make the quaternion test more generic 
works with DCM too
 2012-03-10 10:34:33 +11:00
Andrew Tridgell
a889135e78 Quaternion: update to get_gyro_drift() interface 2012-03-10 10:34:33 +11:00
Andrew Tridgell
e0cc9c93a1 Quaternion: removed some unused variables 2012-03-10 10:34:33 +11:00
Andrew Tridgell
b67b0afd10 DCM: separate out the omega_yaw_P from omega_P 
this cleans up the separation of drift rates and proportional
correction from yaw source and accelerometers, allow the yaw
to run at a different rate to the accel correction
 2012-03-10 10:34:33 +11:00
Andrew Tridgell
f4b1dae7cf IMU: added get_gyro_drift_rate() interface 
this just calls down to the InertialSensor layer
 2012-03-10 10:34:33 +11:00
Andrew Tridgell
f46fba54dc AP_InertialSensor: added a get_gyro_drift_rate() interface 
this returns the expected max drift rate for the particular type of
gyro being used
 2012-03-10 10:34:33 +11:00
Andrew Tridgell
9e07fa3af6 DCM: removed the limit on linear acceleration 
we get linear accelerations of more than 1g when turning corners
 2012-03-10 10:34:33 +11:00
Andrew Tridgell
ab1aec0f77 Quaternion: minor tuning 2012-03-10 10:34:33 +11:00
Andrew Tridgell
e470bf2354 DCM: minor tuning based on testing my quad 2012-03-10 10:34:33 +11:00
Andrew Tridgell
97faa47ba6 SITL: make the yaw match the APM conventions 2012-03-10 10:34:33 +11:00
Andrew Tridgell
d1713bd2fb SITL: fixed the pwm output on startup 2012-03-10 10:34:33 +11:00
Andrew Tridgell
8b37790bd1 Quaternion: code cleanups and added comments 2012-03-10 10:34:32 +11:00
Andrew Tridgell
f5e5ccff6a DCM: code cleanup and added more comments 2012-03-10 10:34:32 +11:00
Andrew Tridgell
e2b2c9181e Quaternion: bumb up gyro drift limit to match DCM 2012-03-10 10:34:32 +11:00
Andrew Tridgell
2b6fae6e16 ADC: removed the ADC level accel smoothing 
the quaternion code does a better job of handling this noise than this
filter does
 2012-03-10 10:34:32 +11:00
Andrew Tridgell
8ad6b5f4d1 Quaternion: separate out drift correction from main updates 2012-03-10 10:34:32 +11:00
Andrew Tridgell
ff4f7ccc65 InertionSensor: update for new Ch6() interface 2012-03-10 10:34:32 +11:00
Andrew Tridgell
d1976449fd IMU: fixed a warning 2012-03-10 10:34:32 +11:00
Andrew Tridgell
e9f35bfa7f GPS: expose last_fix_time 2012-03-10 10:34:32 +11:00
Andrew Tridgell
17daa2f31c Compass: change last_update to be in microseconds 2012-03-10 10:34:32 +11:00
Andrew Tridgell
404a4e4896 ADC: use floats for ADC averaging 
this costs almost nothing and improved accel/gyro calibration
 2012-03-10 10:34:32 +11:00
Andrew Tridgell
4c6afa36cb DCM: removed update_DCM_fast 
this combines the functionality of the 'fast' DCM with the normal one,
and also speeds up both the yaw drift correction and the matrix update
code
 2012-03-10 10:34:31 +11:00
Andrew Tridgell
2c279639a3 AP_IMU: fixed led flashing in gyro cal 
thanks Pat!
 2012-03-10 10:34:31 +11:00
Andrew Tridgell
b39323bf1b AP_Math: expanded the math test suite 2012-03-10 10:34:31 +11:00
Andrew Tridgell
a8fd31a5e1 AP_Math: added quaternion->matrix and earth frame routines 
this will be used for 3d acceleration
 2012-03-10 10:34:31 +11:00
Andrew Tridgell
d3dc5bd751 AP_Math: better way of handling safe_sqrt() 
better to test the result, than predict it
 2012-03-10 10:34:31 +11:00
Andrew Tridgell
b273df0725 SITL: avoid parent pid code on cygwin 
this causes problems on windows
 2012-03-10 10:34:31 +11:00
Andrew Tridgell
e1ff9a641b SITL: prevent nested timer interrupts 2012-03-10 10:34:31 +11:00
Andrew Tridgell
d11aab610d Quat: test patch for michael 2012-03-10 10:34:31 +11:00
Andrew Tridgell
a954f68f27 Quaternion: added NaN paranoid checking 
this is for Michael to run
 2012-03-10 10:34:30 +11:00
Andrew Tridgell
d24b055b66 Math: added comment on quaternion constructor 2012-03-10 10:34:30 +11:00
Andrew Tridgell
1f5095e722 Math: added is_inf() on vector3f 2012-03-10 10:34:30 +11:00
Andrew Tridgell
89a10c584d Quaternion: added more numerical safety in the quaternion code 
prevent infinities from creeping in and prevent large drift changes
 2012-03-10 10:34:30 +11:00
Andrew Tridgell
f2e6714598 AP_Math: added quaternion helper functions and a test suite 2012-03-10 10:34:30 +11:00
Andrew Tridgell
f71311fdc0 Quaternion: fix the gyro bias in centripetal and remove smoothing 
the centripetal code needs to take account of the current gyro
bias.

It turned out that the accel and gyro smoothing was causing
significant control lag, and we're better off just letting the
quaternion code handle it via its own smoothing parameters
 2012-03-10 10:34:30 +11:00
Andrew Tridgell
76736792f8 SITL: disable interrupts during register updates 
this may prevent bogus mode channel reads
 2012-03-10 10:34:30 +11:00
Andrew Tridgell
e445a455d0 Quaternion: use GPS to correct for linear acceleration 
this gives much better pitch estimates. We should do this with the
airspeed sensor if available.
 2012-03-10 10:34:30 +11:00
Andrew Tridgell
1ea1b500a6 Quaternion: don't update if we have a very long deltat 
this can be caused by stopping the system in a debugger
 2012-03-10 10:34:30 +11:00
Andrew Tridgell
8b73166605 Compass: fixed last_update time for HIL compass 2012-03-10 10:34:30 +11:00
Andrew Tridgell
2969e16f7d RC: disable interrupts when reading the RC registers 
this prevents getting bogus values which could cause a flight mode
change
 2012-03-10 10:34:30 +11:00
Andrew Tridgell
efe2686b33 GPS: added an acceleration estimate to the GPS driver 
This uses the GPS ground speed to estimate acceleration
 2012-03-10 10:34:30 +11:00
Andrew Tridgell
02ae5358d5 GPS: fixed some stdint types 2012-03-10 10:34:29 +11:00
Andrew Tridgell
2f5a4cdc4a Quaternion: added in reporting of gyro drift and rp/yaw errors 2012-03-10 10:34:29 +11:00
Andrew Tridgell
934a05bbc6 fixed comment 2012-03-10 10:34:29 +11:00
Andrew Tridgell
a60cf111c5 DCM: fixed an uninitialised variable warning 2012-03-10 10:34:29 +11:00
Andrew Tridgell
7d9c4094a2 Quaternion: tweak the quaternion gains a bit 2012-03-10 10:34:29 +11:00
Andrew Tridgell
e33bb217bc AP_IMU: improved the gyro calibration code 
this should give a much more accurate result
 2012-03-10 10:34:29 +11:00
Andrew Tridgell
de1cfc8e34 Quaternion: drop the gyro drift rates down 
this should allow us to cope with noise more readily
 2012-03-10 10:34:29 +11:00
Andrew Tridgell
2d6680f144 DCM: fixed bug in accel averaging 
sorry Randy!
 2012-03-10 10:34:29 +11:00
Andrew Tridgell
73594199c8 AP_Quaternion: fixed build on Arduino 1.0 2012-03-10 10:34:29 +11:00
Andrew Tridgell
a85ba80246 AP_Quaternion: added DCM compatibility interfaces 
useful for getting the code going quickly
 2012-03-10 10:34:29 +11:00
Andrew Tridgell
626f8598ed AP_IMU: added new_data_available() interface 2012-03-10 10:34:29 +11:00
Andrew Tridgell
a052aa8435 AP_InertialSensor: added new_data_available() interface 2012-03-10 10:34:28 +11:00
Andrew Tridgell
61d649e7ac AP_ADC: added new_data_available() interface 
returns true if more samples are available
 2012-03-10 10:34:28 +11:00
Andrew Tridgell
4a277f9871 fixed deltat in quaternion 2012-03-10 10:34:28 +11:00
Andrew Tridgell
353f9e613f SITL: make SITL not depend on DCM 2012-03-10 10:34:28 +11:00
Andrew Tridgell
fb23c617fa Quaternion: added an AP_Quaternion library 
this is for experimenting with the Madgwick quaternion system, to see
if it is more or less noise sensitive than DCM
 2012-03-10 10:34:28 +11:00
Andrew Tridgell
a05eeab55e SITL: reduce the simulated compass offsets 
this was causing us problems in getting DCM right
 2012-03-10 10:34:28 +11:00
Andrew Tridgell
d03b11092b SITL: separate out drift speed and drift level 2012-03-10 10:34:28 +11:00
Andrew Tridgell
71d3847bfc SITL: added a drift_level multiplier 
this makes it easier to experiment with different gyro drift levels
 2012-03-10 10:34:28 +11:00
Andrew Tridgell
61ebcfe9fe DCM: fixed the averaging of accel values for update_DCM_fast() 
this should improve drift correction for ArduCopter
 2012-03-10 10:34:28 +11:00
Andrew Tridgell
de32c3bc31 AP_Math: added a .zero() method to Vector3f 2012-03-10 10:34:28 +11:00
Andrew Tridgell
a0e2e69431 SITL: fixed delay() to account for signal interrupions 
when a timer went off we stopped the delay() code
 2012-03-10 10:34:28 +11:00
Andrew Tridgell
37ab76c9e6 DCM_Test: fixed example code to work with SITL 
this also fixes the compass setup
 2012-03-10 10:34:27 +11:00
Andrew Tridgell
d2a969ee95 SITL: push noise level to 2.0 for DCM testing 2012-03-10 10:34:27 +11:00
Andrew Tridgell
79b8ddc236 DCM: added a small amount of accel smoothing to update_DCM_fast() 2012-03-10 10:34:27 +11:00
Andrew Tridgell
55413bfcc1 DCM: don't use the z accel sensor for drift correction 
the z accel is the noisest, and seems to do more harm than good. Using
just x and y is sufficient for drift correction by assuming the vector
length
 2012-03-10 10:34:27 +11:00
Andrew Tridgell
a78b00513b DCM: added a small amount of gyro and accel smoothing 
possibly not needed, but convenient to be able to test with different
values
 2012-03-10 10:34:27 +11:00
Andrew Tridgell
82032b17a9 DCM: added reporting interfaces for DCM state 2012-03-10 10:34:27 +11:00
Andrew Tridgell
ae6a94a933 SITL: added sitl_simstate_send() 
used to report simulator state in logs
 2012-03-10 10:34:27 +11:00
Andrew Tridgell
d106e3a970 MAVLink: import new message types DCM, HWSTATUS and SIMSTATE 2012-03-10 10:34:27 +11:00
Andrew Tridgell
4e354a9731 DCM: got rid of _error_roll_pitch from object state 
this can be a local error variable in common with the yaw code. This
saves 12 bytes in the object.
 2012-03-10 10:34:27 +11:00
Jason Short
13e9608fb8 Consolidated Barometer pressure sensing to a single filter based on Randy's new filter class. 2012-03-08 23:13:04 -08:00
Jason Short
34cf1e8fb3 Updated on Barometer - increased the Temp filtering and decreased the pressure filtering to and get less temp noise, faster response from pressure. I'm filtering the Climb rate differently now, so this higher pressure noise should not hurt the derivative calcs at all now. 2012-03-06 20:55:35 -08:00