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
cb52b6f367
AP_AHRS: removed limit on normalisation of accel reference vectors
...
this could lead to a bias in the accel drift correction
2013-11-04 21:20:41 +11:00
Andrew Tridgell
31eaaada62
AP_AHRS: removed vertical G limit on GPS velocity correction
...
this limit could lead to a bias in the accel drift correction, and is
frequenctly exceeded
2013-11-04 21:20:41 +11:00
Andrew Tridgell
a7931b1581
AP_AHRS: fixed wrapping bug in GPS based heading error
...
this bug could cause the GPS based yaw to use an expensive reset far
too often
2013-11-04 21:20:41 +11:00
Andrew Tridgell
17b27a47de
AP_AHRS: prevent GPS yaw resets on compass errors
...
when we switch from compass heading to GPS heading we don't want to
trigger a sudden GPS yaw reset
2013-11-04 21:20:41 +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
8ee848a788
AP_AHRS: update for Stub -> HIL
2013-09-28 22:04:15 +10:00
Randy Mackay
8306d74da0
AHRS: remove DMP as an ahrs
2013-09-27 10:42:46 +09:00
Andrew Tridgell
e1aa6e3ff1
libraries: fixed examples for no flash_leds() callback
2013-09-19 18:38:28 +10:00
Andrew Tridgell
15a4582ed7
AP_AHRS: changed to AP_Vehicle.h
2013-09-13 11:46:10 +10:00
Andrew Tridgell
c044385fff
AP_AHRS: added groundspeed() method
...
this gives ground speed in m/s from GPS
2013-09-09 18:04:41 +10:00
Andrew Tridgell
c56017d8f1
AP_AHRS: added in new orientations
2013-08-30 14:19:17 +10:00
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
6182571c21
AP_AHRS: fixed example build
2013-08-30 13:01:36 +10:00
Andrew Tridgell
587fb58720
AP_AHRS: fixed license text
...
APM is under GPL, not LGPL
2013-08-30 13:01:32 +10:00
Andrew Tridgell
57d2dd814d
AP_AHRS: added get_position_lag() call
...
provide position lag to libraries
2013-08-13 12:07:35 +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
Andrew Tridgell
ec73fadc45
AP_AHRS: added true airspeed support in AHRS
...
use true airspeed for wind calculations, and allow other drivers to
ask for the current ratio
2013-07-22 12:50:01 +10:00
Randy Mackay
0325ad5d0d
AP_AHRS: use rotateXY for speed
...
Saves 0.1ms at 100hz
2013-07-20 18:00:36 +09:00
Andrew Tridgell
1bd6849d00
AP_AHRS: fixed example build
2013-07-15 14:10:17 +10:00
Andrew Tridgell
b721bcc129
AP_AHRS: removed get_roll_rate_earth() and get_pitch_rate_earth()
...
these are not used any more
2013-07-13 21:45:58 +10:00
Andrew Tridgell
086e8f80dc
AP_AHRS: fixed spin rate gain conversion from degrees to radians
...
fixes issue #433
Thanks Jurgen!
2013-07-13 12:36:25 +10:00
Randy Mackay
7860d06b91
AHRS: typo fix for ORIENTATION param description
2013-07-10 14:56:48 +09:00
Andrew Tridgell
279f6d00f0
AP_AHRS: changes for GPS field changes
2013-07-10 14:04:22 +10:00
tobias
1bf135b36f
AP_AHRS: make some more functions const
2013-07-08 12:07:50 +10:00
Randy Mackay
ded31582de
AP_AHRS: add Roll90Yaw90 to parameter description
...
Thanks to Rainer Walther for spotting this
2013-07-07 13:06:40 -10:00
Andrew Tridgell
80e0f8044c
AP_AHRS: added airspeed_sensor_enabled() function
2013-07-04 16:56:57 +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
aaaa5247e3
AP_AHRS: make it possible to setup board orientation at runtime
2013-06-03 16:52:28 +10:00
Andrew Tridgell
e75253d019
AP_AHRS: fixed indent-tabs-mode
2013-05-30 09:54:53 +10:00
Andrew Tridgell
14628990e6
AP_AHRS: make wind estimation configurable
...
rover doesn't want it
2013-05-24 11:21:42 +10:00
Randy Mackay
b27ddf0f63
AP_AHRS: add parameter descriptions
2013-05-21 15:39:03 +09:00
Andrew Tridgell
c08c084191
AP_AHRS: added get_projected_position()
...
this is used to project the position forward by the GPS lag
2013-05-17 08:32:21 +10:00
Andrew Tridgell
a17b85c661
AP_AHRS: use vectors for ground vector complimentary filter
2013-05-13 11:27:55 +10:00
Andrew Tridgell
6f1cee6406
AP_AHRS: fixed position estimate with 2D fix or low satellite count
...
we should still use the GPS for position fixes when we have a low
number of satellites, but we should stop using it for velocity
estimates and attitude correction.
2013-05-07 10:52:14 +10:00
Randy Mackay
ceda7d26b0
AHRS: add correct_centrifugal and flags structure
2013-05-06 15:32:06 +09:00
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
943a1d8c8d
AP_AHRS: added AHRS_GPS_MINSATS option
...
if the number of visible satellites is below AHRS_GPS_MINSATS then
don't use the GPS for acceleration correction for attitude
2013-05-05 12:48:01 +10:00
Andrew Tridgell
811c2ccc11
libraries: fixes for AP_Baro_HIL
2013-05-02 15:09:05 +10:00
Andrew Tridgell
54b826a583
AP_AHRS: update for new compass API
2013-05-02 12:48:14 +10:00
Andrew Tridgell
ba83950fc4
libraries: replace constrain() with constrain_float()
...
this makes the type much more obvious. Thanks to Tobias for the
suggestion.
2013-05-02 10:25:40 +10:00
Andrew Tridgell
f5d6fb6216
AP_AHRS: added _kp gain reduction for catapult launch
...
this should reduce the tendency of aircraft to nose down hard on
initial launch at high g
2013-04-28 14:47:59 +10:00
Andrew Tridgell
fd2cd0d1c2
DCM: fixed formatting
2013-04-23 08:57:44 +10:00
jschall
610069e729
DCM: fixed airspeed bug
...
we incorrectly went via the wind estimate when we had a working airspeed sensor
2013-04-23 08:57:44 +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
a4d25f5a82
AHRS: removed AHRS_BARO_USE option
...
this option has caused users too much trouble. The vertical velocity
is too noisy from the baro
2013-04-15 10:52:31 +10:00
Andrew Tridgell
87b0fb05ce
AHRS: changed default RP and YAW gain to 0.3
...
this reduces the impact of hard acceleration on takeoff, and reduces
the impact of GPS lag
Note that this doesn't affect copters, as they override to 0.1
2013-04-15 10:52:31 +10:00
priseborough
b63d0969b7
AP_AHRS: Addition of a first order complementary filter to AP_AHRS::groundspeed_vector
...
Addition of a complementary filter to estimation of the ground velocity vector for use by the L1-nav
2013-04-12 12:48:09 +10:00
Andrew Tridgell
05ecb8d8fa
AP_AHRS: fixed functions that need to be virtual
...
functions overridden in a child class need to be marked virtual, or
you get the parent class function
2013-04-12 12:48:08 +10:00
Andrew Tridgell
ee81b0f729
AP_AHRS: added wind_correct_bearing() and groundspeed_vector()
...
these are very useful for navigation libraries
2013-04-12 12:48:08 +10:00
Andrew Tridgell
896fd52aa1
AP_AHRS: fixed functions that need to be virtual
...
functions overridden in a child class need to be marked virtual, or
you get the parent class function
2013-03-29 18:35:10 +11:00
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
Randy Mackay
24044dc0c4
AHRS: add support for GPS fix type 2D
2013-03-27 11:41:43 +09:00
Randy Mackay
3321db8dde
AHRS: limit trim to 10 degrees
2013-02-19 18:50:57 +09:00
Andrew Tridgell
6119201307
AP_AHRS: ensure compass is non-NULL for set_board_orientation()
2013-01-17 17:23:34 +11:00
James Bielman
5631f865b2
Update floating point calculations to use floats instead of doubles.
...
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
2013-01-16 13:52:01 +11:00
Andrew Tridgell
f644a356c9
AP_AHRS: document more rotation combinations
2013-01-13 17:32:48 +11:00
Andrew Tridgell
848fc3e32d
AP_AHRS: added AHRS_ORIENTATION parameter
2013-01-13 17:32:48 +11:00
rmackay9
9e5861ccaf
AP_AHRS: small fix to parameter comments
2013-01-02 16:08:38 +09:00
rmackay9
77331f6538
AP_AHRS: another attempt at updating the TRIM parameter descriptions
2013-01-02 15:47:59 +09:00
rmackay9
e6c10f4f0b
AP_ARHS: add description to AHRS_TRIM parameters
2013-01-02 15:44:42 +09:00
Andrew Tridgell
374af1cd14
build: change from Arduino.mk to apm.mk
2013-01-02 17:29:37 +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
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