f501503eb0
AP_Baro: improved barometer averaging
...
this changes the barometer calculations to floating point. On a MS5611
this is actually about twice as fast as the previous 64 bit
calculations, but gains us more accuracy as we are able to take
advantage of sub-bit precision when we average over 8 samples.
2012-07-06 15:11:30 +10:00
520d762382
Filter: split the DerivativeFilter steps into update() and slope()
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this allows us to apply new data at a different rate than we calculate
the slope.
2012-07-06 15:11:30 +10:00
3c7e521f70
AP_Baro: update MS5611 test to use baro library altitude
2012-07-06 15:11:30 +10:00
302696951a
AHRS: make the yaw independent drift correction optional and disable
...
the new correction algorithm copes poorly with gyro drift, leading to
signification attitude errors in the face of drift
2012-07-06 15:11:30 +10:00
8c5ef3e60f
AHRS: only enable barometer for AHRS if it is smooth enough
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if we used less than 5 samples to compute the pressure then don't use
it for climb rate
2012-07-05 16:29:21 +10:00
ec0995eea1
SITL: lower baro noise a bit
2012-07-05 16:29:21 +10:00
6534dab719
Filter: fixed DerivativeFilter example build
2012-07-05 16:29:21 +10:00
d29b6ce0a8
SITL: run the HIL barometer at 80Hz to match APM2
2012-07-05 16:29:21 +10:00
209136386b
AP_Baro: added get_pressure_samples() interface
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this returns how many samples were used to calculate the last pressure
2012-07-05 16:29:21 +10:00
1a42b10255
Filter: fixed typo in 9 point DerivativeFilter
2012-07-05 16:29:20 +10:00
185c6e5b32
AP_Baro: change to a 7 point DerivativeFilter for climb rate
2012-07-05 13:00:47 +10:00
75470dc912
Filter: cope with non-uniform time steps in the DerivativeFilter
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this helps with the barometer a lot, as the timing is quite variable
2012-07-05 13:00:47 +10:00
f03ba86d9d
SITL: add some minimal noise when motors are off
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this actually improves the gyro calibration
2012-07-05 13:00:46 +10:00
60caaa4b04
MAVLink: remove MAVLink 0.9 protocol support
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this simplifies the code a lot. We're not going back to 1.0
2012-07-05 13:00:46 +10:00
2cd6da2539
AHRS: only use GPS for yaw when compass is not being used
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this avoids having two competing controllers
2012-07-05 13:00:46 +10:00
adfa97b6f8
AHRS: enable barometer for vertical velocity
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this re-enables the barometer for vertical velocity information
for drift correction, now that we have a better filter
on the climb rate
2012-07-05 13:00:46 +10:00
f9fc7aafe7
AP_Baro: use DerivativeFilter in barometer climb rate
2012-07-05 13:00:46 +10:00
f19e5a6273
Filter: added DerivativeFilter implementation
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this adds a DerivativeFilter implementation of up to 10 points
2012-07-05 13:00:46 +10:00
9f8703274c
AP_Baro: show climb rate in baro test sketch
2012-07-05 13:00:45 +10:00
b5f47f5e63
AP_Motors: clarified some doxygen descriptions for TradHeli
2012-07-05 08:46:50 +09:00
0febf76d9d
Document++
2012-07-05 00:33:46 +02:00
e9c72822dc
Remove unused function
2012-07-05 00:33:10 +02:00
c35a2e999b
SITL: added SIM_GPS_DELAY parameter
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this allows a delay to be added to the gps data to test the impact on
AHRS/DCM
2012-07-04 21:05:22 +10:00
faeda3713e
AP_AHRS: removed DCM_test example sketch
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No longer required because it doesn't compile and is redundant anyway because the AP_AHRS_DCM class is tested in the AHRS_Test example sketch.
2012-07-04 18:22:51 +09:00
3849ca8b5c
AHRS: make DCM drift correction not rely on accurate yaw
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this uses a new formulation of the GPS based drift correction from
Bill Premerlani that rotates the error vector to avoid relying on
accurate yaw. This means we should get accurate roll/pitch correction
even with lots of magnetometer interference
It also makes it possible to fly a multicopter with no compass. It can
even navigate and correct yaw (slowly!)
2012-07-04 17:00:40 +10:00
1cd8c54f21
AP_Math: cope with co-located waypoints in location_passed_point()
2012-07-04 14:24:04 +10:00
468dfe3faa
AP_Math: the windows arduino build is missing acosf()
2012-07-04 14:14:58 +10:00
0bdce404a5
AP_Math: add include of math.h
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this is needed for location.cpp
2012-07-04 13:59:23 +10:00
be9b9f3e67
DataFlash: fixed SITL build
2012-07-04 13:44:01 +10:00
dd24330645
DataFlash: fallback to BlockErase if ChipErase fails
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The errata on the APM2 dataflash chip says that ChipErase may not work
on some chips
2012-07-04 12:42:46 +10:00
dd200cba31
Math: added location functions to math library
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these do common calculations on struct Location
2012-07-04 12:42:46 +10:00
1314e4f872
AHRS: make P gain on PI roll/pitch controller tunable
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this is to make it easier for Craig and Alan to tune
2012-07-04 12:42:46 +10:00
060cbe2030
AP_Mount: removed unused enum
2012-07-03 10:39:34 +10:00
99b11e4f19
Mount: enable mount control via eeprom parameters
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this enables MNT_* parameter control of the camera mount code. It also
fixes the conversion of calculated angles between degrees and
integers, and fixes stabilised mount control when yaw control is not
available.
2012-07-03 10:21:01 +10:00
057eb5e6f6
Baro: average over all pressure/temperature samples on MS5611
...
this allows us to use the MS5611 barometer at its full 100Hz sample
rate (80Hz for pressure, 20Hz for temperature). The pressure and
temperature values are averaged between reads without adding any
latency. Previously the driver would throw away values between
readings
This also fixes a race condition in reading from the SPI bus that
could lead to bad values from the barometer
2012-07-02 13:44:53 +10:00
f70cd71791
Baro: fixed build of MS5611 test code
2012-07-02 13:44:53 +10:00
769011e947
AnalogSource: added some example code
2012-07-01 15:01:05 +10:00
1fdcc3e8f0
SITL: added support for new analog source
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removed analogRead() to prevent people using it
2012-07-01 15:01:05 +10:00
c8befe4536
AnalogSource: make the Arduino AnalogSource interrupt driven
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this fixes several problems with reading analog sources:
- we were getting poor values because we didn't wait long enough for
an analog source to settle
- we wasted a lot of CPU cycles waiting for conversions
- we were not taking averages over many samples, which we did with
the old AP_ADC driver on the APM1
2012-07-01 15:01:05 +10:00
136c03c3c0
AHRS: include the P terms in get_gyro()
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this makes it more useful for navigation controllers
2012-06-29 21:54:09 +10:00
acc6adf6e9
MPU6k: removed an unused variable
2012-06-29 21:54:09 +10:00
ed691fc465
SITL: added SITL class for controlling simulation
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this holds mavlink settable parameters for controlling sensor noise
levels
2012-06-29 15:10:51 +10:00
16c55c64d4
AHRS: don't add the P terms in _omega
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this can lead feedback via the _P_gain()
2012-06-29 15:10:51 +10:00
37fc6c46b9
AHRS: disable barometer for vertical acceleration
...
this seems to have been the cause of the 'flips' seen by Marco and
others. Testing by Craig and Alan shows that the flips are gone when
the barometric acceleration is removed.
It looks like a 5 point average filter is not enough to keep the
vertical acceleteration noise low. With high noise in the z axes, the
x and y axes are scaled back when the ge vector is normalised.
2012-06-28 11:12:49 +10:00
58c4d458dc
AHRS: re-instate new DCM drift correction code
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This reverts commit 078489638d47fbaffde7c51249e36b5a8fc4ef9d.
2012-06-28 11:09:22 +10:00
fd241692d0
AHRS: revert to the old drift correction algorithm
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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
a6543f1e84
SITL: removed an unused variable
2012-06-27 16:01:50 +10:00
5bccfbd94c
Barometer: fixed airstart for APM
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we need to re-load the ground pressure and temperature from eeprom on
and airstart
2012-06-27 16:01:50 +10:00
8e044a560b
AHRS: include P term in omega
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thanks to Jon for suggesting this
2012-06-27 16:01:50 +10:00
37e2f2ee2c
AHRS: implement spin rate limits
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this follows the method that Bill developed in his fastRotations
paper. We've demonstrated that this is indeed needed in APM, as we
were able to produce the 'dizzy' effects in both the ArduPlane and
ArduCopter simulator
2012-06-27 16:01:50 +10:00
Andrew Tridgell
rmackay9
Amilcar Lucas