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3884 Commits

Author SHA1 Message Date
Adam M Rivera d3667faef4 AP_Declination: Added call to compass.set_initial_location if the compass is enabled when the 3D fix is obtained. 
Signed-off-by: Andrew Tridgell <tridge@samba.org>
 2012-03-11 20:59:47 +11:00
Adam M Rivera 2524f9c8df AP_Declination: Added new config value to allow the user to have the declination overwritten on every 3D fix. 
Signed-off-by: Andrew Tridgell <tridge@samba.org>
 2012-03-11 20:59:47 +11:00
Adam M Rivera fe8c896d69 AP_Declination: Added method set_initial_location 
This will set the declination based on lat/lon if the user has
not yet saved one to the EEPROM, OR if they have specified via the
config parameter that they want it to overwrite the declination every
3D fix.

Signed-off-by: Andrew Tridgell <tridge@samba.org>
 2012-03-11 20:59:47 +11:00
Adam M Rivera e08b50ee91 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 e22da153ec 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 d2a07b1603 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 d10c4b76ad Compass: removed an incorrect comment 2012-03-11 20:07:38 +11:00
Andrew Tridgell 0da64e98f8 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 0ec9857689 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 4bf28d499a Quaternion: update for new Quaternion interface 2012-03-11 15:37:07 +11:00
Andrew Tridgell e8f1c5742b DCM: update for new Matrix3f interface 2012-03-11 15:37:07 +11:00
Andrew Tridgell 4d3789d11c AP_Math: update the test suite 2012-03-11 15:37:07 +11:00
Andrew Tridgell 4422486d44 AP_Math: made rotation matrices more C++ 
thanks to Adam for the suggestion
 2012-03-11 15:37:07 +11:00
Andrew Tridgell 5c6368bad3 AP_Math: allow null pointers in Quaternion::to_euler() 
this matches the Matrix3f method
 2012-03-11 15:37:07 +11:00
Andrew Tridgell 16c95236c0 Quaternion: use the new quaternion API 2012-03-11 15:37:07 +11:00
Andrew Tridgell 9f0cb78f08 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 9e30b5e4a5 I2C: fixed cr/lf mess 2012-03-11 15:37:07 +11:00
Andrew Tridgell 6021daf423 OpticalFlow: adapt optical flow library to new rotation system 2012-03-11 15:37:07 +11:00
Andrew Tridgell 2ab3d2c080 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 cb96dd975f Compass: update the compass driver to use the new vector.rotate() method 2012-03-11 15:37:07 +11:00
Andrew Tridgell 55aa43a70d Math: added a test suite for the new rotation methods 2012-03-11 15:37:07 +11:00
Andrew Tridgell 289c64c0b9 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
Jason Short 62c2aa4924 ACM: Added Loiter D tuning 2012-03-10 14:17:57 -08:00
Jason Short cb8729109c ACM: Added Loiter_D for tuning as #23 2012-03-10 14:17:16 -08:00
Jason Short 0671bb9168 ACM: Firmware rev 2012-03-10 12:45:03 -08:00
Jason Short f9d0dc9daa ACM: disabled auto_calibration until more testing can be done 2012-03-10 12:44:49 -08:00
Jason Short 5ad7320505 ACM: changed alt hold initialization of altitude to be immediate 2012-03-10 12:44:18 -08:00
Jason Short 450f89ec5d ACM: Added note about scaling rates 2012-03-10 12:43:28 -08:00
Jason Short eb53200179 ACM: Altered the scaling speed for altitude changes for faster rises. 2012-03-10 12:43:01 -08:00
Jason Short 204f9957b0 ACM: Added force_new_altitude call to do immediate changes in altitude and no gradual changes. 2012-03-10 12:42:22 -08:00
Jason Short 83729d0f75 ACM: decreased rate P for alt hold to remove bumpy repsonse 2012-03-10 12:41:06 -08:00
Jason Short 220d5a1c6e ACM: Increased the altitude error P for smoother alt hold response 2012-03-10 12:40:44 -08:00
Jason Short 4b703e8842 decreased the loiter rate P for overshoot 2012-03-10 12:40:07 -08:00
Jason Short fc32da0d2e ACM: increased the available rate error constrain, it was too low 2012-03-10 12:39:16 -08:00
Jason Short bd4835a1b2 ACM: removed the experiment for rate error. 2012-03-10 12:38:29 -08:00
Jason Short 29d6085bab added Force_new_altitude call for alt hold 2012-03-10 12:37:54 -08:00
Jason Short 4ba600c0c5 upped throttle manual boost to 225 2012-03-10 12:37:28 -08:00
rmackay9 afc4aceb32 ArduCopter - fixed small compile warning about unused x_iterm and y_iterm in navigation.pde 2012-03-11 01:27:58 +09:00
rmackay9 c7480f2281 ArduCopter - fix to dataflash logging of Mag heading 2012-03-11 01:27:29 +09:00
Andrew Tridgell ba8e764349 SITL: lower the noise and drift levels for general autotest usage 2012-03-10 10:34:34 +11:00
Andrew Tridgell b02ca58901 InertialSensor: fixed HIL build 2012-03-10 10:34:34 +11:00
Andrew Tridgell 44ebb20329 MAVLink: bring the v1.0 MAVLink in sync with 0.9 2012-03-10 10:34:34 +11:00
Andrew Tridgell 87c463bcc7 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 eff6778515 Quaternion: use gyro drift value from sensor driver 2012-03-10 10:34:34 +11:00
Andrew Tridgell 3989fe2c2c 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 c8189c80d4 SITL: cleanup the gyro drift calculations 
use units that are more easily understood
 2012-03-10 10:34:34 +11:00
Andrew Tridgell b833190abb Quaternion: make the quaternion test more generic 
works with DCM too
 2012-03-10 10:34:33 +11:00
Andrew Tridgell 2f9af05cfa Quaternion: update to get_gyro_drift() interface 2012-03-10 10:34:33 +11:00
Andrew Tridgell bf16b2926c Quaternion: removed some unused variables 2012-03-10 10:34:33 +11:00
Andrew Tridgell d75e883fe8 GCS: get_integrator() is now get_gyro_drift() in DCM 2012-03-10 10:34:33 +11:00