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169 Commits

Author SHA1 Message Date
Andrew Tridgell 3ac3aeb1b1 AHRS: fixed build on ARM 2013-01-02 14:45:09 +11:00
Andrew Tridgell 583845cc17 ahrs fixup 2013-01-02 14:45:08 +11:00
Andrew Tridgell 1b0670e67c AHRS: fixup for ARM compiler 2013-01-02 14:45:08 +11:00
rmackay9 bd0e018ca0 ArduCopter: restore auto-trim method but now use AHRS.add_trim 2013-01-02 09:20:08 +11:00
rmackay9 1f7614929f AP_AHRS: save trim to eeprom when set_trim is called 2013-01-02 09:12:17 +11:00
rmackay9 1c08f176ea AP_AHRS: add get_accel_ef method to return earth frame accelerometer values for use in ArduCopter's inertial nav and accel based throttle 2013-01-02 09:11:25 +11:00
Andrew Tridgell e282554035 AHRS: removed some debug code 2012-12-20 14:53:23 +11:00
Andrew Tridgell ceb3f577d8 libraries: use new math functions 2012-12-20 14:53:22 +11:00
Pat Hickey eb530b86e8 move Arduino.mk to /mk/Arduino.mk 2012-12-20 14:52:35 +11:00
Andrew Tridgell fc66f5594f AHRS: allow AHRS test to build with SITL 2012-12-20 14:52:34 +11:00
Andrew Tridgell 7d27e420ae AP_HAL: remove unnecessary Arduino.h includes 2012-12-20 14:52:30 +11:00
Andrew Tridgell 5c148153ac AP_AHRS: updates for new AP_Param API 2012-12-20 14:51:38 +11:00
Pat Hickey 475da4eca4 CONFIG_HAL_BOARD - test sketches fixed up, build all passes 2012-12-20 14:51:37 +11:00
Andrew Tridgell 8b6ad6d559 SITL: removed SITL_debug() 
not needed any more
 2012-12-20 14:51:36 +11:00
Andrew Tridgell 5840ded767 AHRS: removed constrain() defines 2012-12-20 14:51:34 +11:00
Andrew Tridgell 09e7b0b592 AHRS: removed unused variable 2012-12-20 14:51:34 +11:00
Pat Hickey 70f34656bc AP_AHRS: uart1 -> uartB fixup 2012-12-20 14:51:34 +11:00
Pat Hickey 9bf69d4e0d AP_AHRS: port to AP_HAL 2012-12-20 14:51:29 +11:00
Pat Hickey 3f1d9d7f69 AP_Param: #include <AP_Param.h> fixups for libraries & sketches 
* I mostly went through with grep and added an #include <AP_Param.h> below
  every #include <AP_Common.h>. Not all of these example sketches might
  strictly need AP_Param.
 2012-12-20 14:51:19 +11:00
rmackay9 24317e721b AC_PID, AP_AHRS: added descriptions to some parameters 2012-12-10 22:28:39 +09:00
Andrew Tridgell 51080d3e9e AHRS: update example for new ins interface 2012-11-30 07:15:19 +11:00
Andrew Tridgell 1dad9e4e94 AHRS: improved some more doc strings 2012-11-27 15:56:53 +11:00
Andrew Tridgell eb1d5c2c68 AHRS: improved docs for AHRS_GPS_USE 
some people are setting this to zero to prevent jitter, which results
in their plane flying off into the distance and never coming back
 2012-11-27 15:41:52 +11:00
Andrew Tridgell 5a214acca3 AHRS: changed the docs for AHRS_YAW_P and AHRS_RP_P 
a user had set AHRS_YAW_P to zero. Make it clear that zero is not a
good value. MichaelO will change MP to give a warning for a value
below 0.1
 2012-11-19 22:50:05 +11:00
Andrew Tridgell 8561f08b2f AP_AHRS: prevent a large delta_t from affecting DCM solution 
this should fix large changes in attitude directly after arming
ArduCopter
 2012-11-13 15:33:10 +11:00
rmackay9 56f88821e9 AP_AHRS: fix example sketch 
AP_Airspeed: fix example sketch
AP_Baro: fix example sketch
AP_Declination: fix example sketch
AP_Math: fix example sketch
 2012-11-08 00:08:18 +09:00
rmackay9 83ae8e47be AP_AHRS: replace IMU with INS and add roll and pitch trim 2012-11-07 19:20:32 +09:00
Andrew Tridgell fe47990dab AP_AHRS: removed the 6 sats min 
this would put us into dead-reckoning mode
 2012-11-06 14:26:49 +11:00
Andrew Tridgell 6a24bdec05 AP_AHRS: require at least 6 satellites to use the GPS for velocity 
logs of a recent flight show the velocity estimate can be very poor if
the GPS can see 5 satellites or less
 2012-11-05 20:07:37 +11:00
Andrew Tridgell ea40432235 AP_AHRS: use GPS vertical velocity when available 2012-11-05 14:58:40 +11:00
rmackay9 9e3824a09b AP_AHRS: fix compile error in example sketch 2012-11-01 21:56:34 +09:00
Andrew Tridgell 00bf548f87 AHRS: limit wind speed estimate changes 
sudden yaw changes can cause bad wind estimates
 2012-10-11 11:51:24 +11:00
rmackay9 e33d314f1d AP_AHRS_MPU6000: resolve compiler warning re shadowing 2012-10-06 13:22:43 +09:00
rmackay9 670fcbb634 AP_AHRS_MPU6000: fixed yaw correction and added _secondary_ahrs parameter 
_secondary_ahrs parameter allows mpu6000 ahrs to runin parallel with DCM.
 2012-09-30 00:21:18 +09:00
rmackay9 8c6fd340d7 AP_AHRS: added scheduler parameter to init 
Required by the AP_AHRS_MPU6000 class which needs to disable timed processes that could interfere with it's communication with the mpu6000
 2012-09-29 13:51:21 +09:00
rmackay9 41fbb19cf5 AP_InertialSensor_MPU6000: replaced _cs_pin parameter with #define and saved 1 byte of memory 
Updated ArduCopter, ArduPlane and example sketches in AP_InertialSensor, AP_IMU and AP_AHRS libraries because they no longer need to pass in cs_pin to the constructor
 2012-09-28 19:21:59 +09:00
Andrew Tridgell ccf8ba3ce9 DCM: limit the contribution of the baro to vertical acceleration 
limit to a max of 0.5g
 2012-09-20 17:34:32 +10:00
Andrew Tridgell 458a42654b DCM: disable use of baro for vertical accel by default 
this has caused problems with too many users
 2012-09-20 17:34:32 +10:00
Michael Oborne 94f956a0ca fix AP attitude hil - with randys help 2012-09-15 16:47:18 +08:00
rmackay9 1c9fe3b1b6 AP_AHRS: fix to allow example sketch to compile 2012-09-13 16:45:52 +09:00
Andrew Tridgell fba1692d69 AHRS: added AHRS_BARO_USE parameter 
allow disabling of the use of the barometer for vertical acceleration
compensation
 2012-09-12 14:42:04 +10:00
Andrew Tridgell de28cc8b28 AHRS: added AHRS_WIND_MAX option 
this allows APM to cope better with airspeed sensor failure, but
ensuring airspeed stays within AHRS_WIND_MAX of ground speed
 2012-09-08 11:37:07 +10:00
Andrew Tridgell 2be785899b AHRS: added airspeed_estimate() function 
this allows the APM code to use an airspeed estimate for navigation
 2012-08-25 17:49:26 +10:00
Andrew Tridgell 8b53f1272a AHRS: new functions to support APM_Control library 2012-08-22 12:42:37 +10:00
uncrustify e17fcbd9cb uncrustify libraries/AP_AHRS/AP_AHRS_HIL.h 2012-08-21 19:19:51 -07:00
uncrustify af588679b9 uncrustify libraries/AP_AHRS/AP_AHRS.h 2012-08-21 19:19:51 -07:00
uncrustify 8c0e4f3987 uncrustify libraries/AP_AHRS/AP_AHRS_MPU6000.h 2012-08-21 19:19:51 -07:00
uncrustify bc80148c75 uncrustify libraries/AP_AHRS/AP_AHRS_DCM.h 2012-08-21 19:19:51 -07:00
uncrustify 31a4442904 uncrustify libraries/AP_AHRS/AP_AHRS_DCM.cpp 2012-08-21 19:19:51 -07:00
uncrustify d6d7606c84 uncrustify libraries/AP_AHRS/AP_AHRS_HIL.cpp 2012-08-21 18:59:34 -07:00
uncrustify 9e4e08699d uncrustify libraries/AP_AHRS/AP_AHRS_MPU6000.cpp 2012-08-21 18:59:34 -07:00
uncrustify 6327305116 uncrustify libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.pde 2012-08-21 18:59:13 -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 2985de279f AHRS: fixed duplicate gps_use variable in DCM 2012-08-21 20:17:03 +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 14cdbd36cb AHRS: check for bad values in the error before they can affect DCM 
this should fix the DCM renorm errors in autotest, probably caused by
bad climb rates
 2012-08-18 13:54:11 +10:00
Andrew Tridgell d9cc967508 AHRS: force an extra read of the compass on startup 
the first read from the compass can be bad. This ensures we have a
good value when getting the initial AHRS yaw.

Thanks to Randy and Jason for the bug report!
 2012-08-17 17:57:39 +10:00
Andrew Tridgell 73dcbc24c3 Quaternion: we no longer support acceleration in the GPS driver 
remove the linear acceleration compensation code
 2012-08-15 20:07:53 +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 19a5d11669 AHRS: use airspeed for wind in forward flight 
when not turning we can use the airspeed sensor directly to calculate
the wind speed.
 2012-08-12 10:54:25 +10:00
Andrew Tridgell f5b7ae213c AHRS: added AHRS_GPS_USE parameter 
this allows for the GPS to be disables for position updates, which
allows for testing dead-reckoning
 2012-08-11 22:06:03 +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
Andrew Tridgell b01907cf23 ACM: fixed HIL build 2012-08-11 08:34:16 +10:00
Jason Short 52b2aacf28 AHRS DCM: FOrmatting 2012-08-09 16:59:43 -07:00
Andrew Tridgell 898a5af692 AP_Param: update AHRS for new constructor syntax 2012-08-08 12:11:57 +10:00
rmackay9 0eaf427062 AP_AHRS_MPU6000: cleaning up compiler warning due to unused yaw_deltat variable 2012-07-28 16:23:25 +09:00
rmackay9 1b521a9f73 AP_AHRS: updated test sketch to allow use of MPU6000's DMP 2012-07-28 14:27:26 +09:00
rmackay9 dbe7c8ed1a AP_AHRS_MPU6000: first draft implementation of class that uses MPU6000's DMP to calculate attitude 2012-07-28 14:17:38 +09:00
rmackay9 b844bb7919 AP_AHRS: removed var_info from AP_AHRS class (moved to AP_AHRS_DCM) 2012-07-28 14:16:56 +09:00
rmackay9 468170b589 AP_AHRS_DCM: moved var_info to belong to AP_AHRS_DCM instead of AP_AHRS 2012-07-28 14:16:15 +09:00
Jonathan Challinger 9cd98e79dd AHRS: normalise GA_b before computing error vector only if too large 
When GA_b is small the direction of the vector is unreliable, so
normalising can exacerbate the error in the direction
 2012-07-23 17:16:50 +10:00
Andrew Tridgell 5f5ab9c07c AHRS: if we don't have gps correction enabled, zero the yaw correction 2012-07-20 17:21:04 +10:00
Andrew Tridgell c937738732 AHRS: allow the gps/accelerometers to control yaw when rolled 
this solves a problem with yaw estimation when at high roll angles,
when the compass code becomes ineffective
 2012-07-20 11:50:04 +10:00
Michael Oborne a469682b7b fix param config names 2012-07-14 15:34:15 +08:00
Andrew Tridgell 165604a55c AHRS: fixed HIL build 2012-07-10 18:02:05 +10:00
Andrew Tridgell 0f9fb2c64b AHRS: added AHRS_GPS_GAIN parameter 
this allows control of how much GPS velocity information is used in
doing centripetal correction in DCM
 2012-07-10 16:22:48 +10:00
Andrew Tridgell 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
Andrew Tridgell 8c5ef3e60f AHRS: only enable barometer for AHRS if it is smooth enough 
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
Andrew Tridgell 2cd6da2539 AHRS: only use GPS for yaw when compass is not being used 
this avoids having two competing controllers
 2012-07-05 13:00:46 +10:00
Andrew Tridgell adfa97b6f8 AHRS: enable barometer for vertical velocity 
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
rmackay9 faeda3713e AP_AHRS: removed DCM_test example sketch 
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
Andrew Tridgell 3849ca8b5c AHRS: make DCM drift correction not rely on accurate yaw 
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
Andrew Tridgell 1314e4f872 AHRS: make P gain on PI roll/pitch controller tunable 
this is to make it easier for Craig and Alan to tune
 2012-07-04 12:42:46 +10:00
Andrew Tridgell 136c03c3c0 AHRS: include the P terms in get_gyro() 
this makes it more useful for navigation controllers
 2012-06-29 21:54:09 +10:00
Andrew Tridgell 16c55c64d4 AHRS: don't add the P terms in _omega 
this can lead feedback via the _P_gain()
 2012-06-29 15:10:51 +10:00
Andrew Tridgell 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
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 8e044a560b AHRS: include P term in omega 
thanks to Jon for suggesting this
 2012-06-27 16:01:50 +10:00
Andrew Tridgell 37e2f2ee2c AHRS: implement spin rate limits 
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 e4a245179c AHRS: cope with copters with no compass 
if a copter doesn't have a compass, we can't use the GPS for gyro
drift correction
 2012-06-27 16:01:50 +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
Jonathan Challinger d230690b7b AHRS: brought DCM more inline with Bill's implementation 
omega_I applied continuously. _ki larger. Stop integrating when _omega.length()>20

The key change was the scaling of ge to ensure the error is not
quadratic
 2012-06-27 16:01:49 +10:00
Andrew Tridgell d4c8041c51 AHRS: first successful version of Bills new drift correction system 
This makes 3 major changes:

 1) fixes the scaling of the yaw drift correction term to fix the time
 constant

 2) don't integrate the mag vector over multiple readings

 3) accumulate omega_I changes over 15 seconds before applying, to try
 to prevent omega_I picking up short term responses
 2012-06-27 16:01:49 +10:00
Andrew Tridgell 4d08f75292 AHRS: update for new _fly_forward flag 2012-06-27 16:01:49 +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