Andrew Tridgell
6119201307
AP_AHRS: ensure compass is non-NULL for set_board_orientation()
2013-01-17 17:23:34 +11:00
Andrew Tridgell
848fc3e32d
AP_AHRS: added AHRS_ORIENTATION parameter
2013-01-13 17:32:48 +11:00
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
5c148153ac
AP_AHRS: updates for new AP_Param API
2012-12-20 14:51:38 +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
83ae8e47be
AP_AHRS: replace IMU with INS and add roll and pitch trim
2012-11-07 19:20:32 +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
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
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