Commit Graph

54 Commits

Author SHA1 Message Date
Jonathan Challinger f321a5f241 AP_AHRS: Change airspeed_estimate to const in children of AP_AHRS
Allows roll/pitch controllers to use DCM's airspeed estimate. Thanks to Kevin Hester for assistance in finding this.
2014-02-25 18:49:16 +11:00
Andrew Tridgell eedd88c2ec AP_AHRS: give zero lat/lng and baro alt if no position yet in DCM 2014-02-15 09:25:40 +11:00
Andrew Tridgell 25ef0d5a7b AP_AHRS: don't allow get_velocity_NED() and get_relative_position_NED() without EKF
this avoids some linking issues, plus the functions are inaccurate
without EKF
2014-02-15 05:48:24 +11:00
Andrew Tridgell c62ccce9d8 AP_AHRS: make estimate_wind() public
this avoids it linking into copter
2014-02-15 05:48:24 +11:00
Paul Riseborough 08267cea87 AP_AHRS: Scheduling for yaw gain to reduce atitude errors in turning flight 2014-02-15 05:48:22 +11:00
Andrew Tridgell 5d43a1d704 AP_AHRS: added inertial nav interfaces to AHRS 2014-02-15 05:48:16 +11:00
Andrew Tridgell 392995ef84 AP_AHRS: make AHRS handle altitude
AHRS now holds the home position
2014-02-15 05:29:47 +11:00
Andrew Tridgell 1e476e511a AP_AHRS: pass baro into AP_AHRS
first step in making AHRS handle altitude
2014-02-15 05:29:47 +11:00
Paul Riseborough f2c2811ef3 AP_AHRS & AP_Math: fixed bug in use of AHRS_TRIM parameters 2014-01-19 07:19:43 +11:00
Andrew Tridgell 6ed493b10f AP_AHRS: added attitude_reset() method for HIL_SENSORS 2013-11-23 18:50:56 +11:00
Andrew Tridgell 02d6f012ce AP_AHRS: added accel sum delay buffer to account for GPS lag 2013-11-04 21:21:42 +11:00
Andrew Tridgell d31e557983 AP_AHRS: save memory and reduce pointer references
use a refence for ins, and don't save gyro and accel between updates
2013-11-04 21:21:37 +11:00
Andrew Tridgell d305dd5946 AP_AHRS: debounce the GPS/compass consistency test
we will only consider the compass inconsistent with GPS if it is off
for more than 2 seconds
2013-10-23 09:40:42 +11:00
Andrew Tridgell 97b7130bb9 libraries: update license header to GPLv3
we switched to GPLv3 a long time ago, but neglected to update the
per-file license headers
2013-08-30 13:01:39 +10:00
Andrew Tridgell 0d36832b82 AP_AHRS: use const reference not pointers for locations
this makes life easier for the new AP_Mission library

Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
2013-08-05 10:24:12 +10:00
tobias 1bf135b36f AP_AHRS: make some more functions const 2013-07-08 12:07:50 +10:00
Andrew Tridgell 7d42a0562d AP_AHRS: cope better with large GPS yaw changes
this should cope better with bungee launches when using only GPS for
yaw.
2013-06-25 12:44:26 +10:00
Andrew Tridgell 38fc0e61c6 AP_AHRS: optimise yaw drift correction
use new vector2 cross product, and factor out the z component of a dcm
mul_transpose() to reduce the number of floating point operations for
a yaw drift correction cycle
2013-05-05 13:51:45 +10:00
Randy Mackay ee2daf25b6 AHRS: perf improvement by caching declination vector 2013-05-05 12:58:43 +10:00
Andrew Tridgell 014c9376e7 AP_AHRS: use const references where possible 2013-04-22 13:26:49 +10:00
Andrew Tridgell 7ad293e270 AP_AHRS: made a few methods const 2013-04-20 13:52:36 +10:00
Andrew Tridgell 8459da202c AP_AHRS: prevents compass flyaways for plane and rover
this switches to the GPS for yaw if the compass has dragged us off by
more than 45 degrees from the GPS heading, and the wind speed is less
than 80% of the ground speed.
2013-03-29 13:48:25 +11:00
Pat Hickey 9bf69d4e0d AP_AHRS: port to AP_HAL 2012-12-20 14:51:29 +11:00
rmackay9 83ae8e47be AP_AHRS: replace IMU with INS and add roll and pitch trim 2012-11-07 19:20:32 +09:00
Andrew Tridgell 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
uncrustify bc80148c75 uncrustify libraries/AP_AHRS/AP_AHRS_DCM.h 2012-08-21 19:19:51 -07:00
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 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 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
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 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
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 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 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 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 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
rmackay9 6e1798b104 AP_AHRS: updated default AHRS_YAW_P to 0.2 (was 0.4)
This reduces the compass's default authority over the yaw direction by half
2012-04-30 17:29:45 +09:00
Andrew Tridgell 2a3af369b6 DCM: buffer omega_I changes over 10 seconds
this buffers up _omega_I changes in _omega_I_sum over a period of 10
seconds, applying the slope limit only when _omega_I_sum is
transferred to _omega_I.

The result is a huge improvement in the ability of _omega_I to track
gyro drift over the long term.
2012-04-23 12:13:25 +10:00