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1407 Commits

Author SHA1 Message Date
Andrew Tridgell 58a68c89d9 Math: added a function to combine standard rotations 
this will allow us to have an overall board rotation plus a per-sensor
rotation
 2012-03-19 17:29:02 +11:00
Andrew Tridgell 8ae0ea7e37 AP_Mount: adapt library for AHRS framework 2012-03-19 17:29:02 +11:00
Andrew Tridgell 79b9be8b1a AHRS: fixup the AHRS test suite for the new framework 2012-03-19 17:29:02 +11:00
Andrew Tridgell f8087d3c67 AHRS: adapt the quaternion library to AHRS 2012-03-19 17:29:02 +11:00
Andrew Tridgell 8dcf82b433 AHRS: adapt the DCM_HIL library to AHRS 2012-03-19 17:29:02 +11:00
Andrew Tridgell d4bb068d5b AHRS: adapt the DCM library to the AHRS framework 2012-03-19 17:29:02 +11:00
Andrew Tridgell 9d75ffeba1 AHRS: rename DCM and Quaternion implementions ready for AHRS class 
this is the first step to creating a general AHRS class for ArduPilot
 2012-03-19 17:29:01 +11:00
Andrew Tridgell 55ed84526a MAVLink: rename DCM message to AHRS 2012-03-19 17:29:01 +11:00
rmackay9 01cc5fe938 AP_Baro - removed unnecessary 2 element average filtering of pressure (there is a 4 or 5 element average filter in arducopter code itself, two places is messy) 
- also removed unused _offset_press variable
 2012-03-18 15:18:05 +09:00
rmackay9 7560242721 AP_Baro - added average filter for temperature to replace broken filter 
- added average filter (for last two values) for raw pressure
        - changed some "long" to int32_t and "unsigned long" to uint32_t
 2012-03-18 01:06:02 +09:00
Michael Oborne bae5f98666 sitl cygwin mods 2012-03-15 08:16:50 +08:00
Andrew Tridgell 00c1c6f108 Quaternion: credit Justin with the initial idea of using Madgwick 
thanks Justin!
 2012-03-13 13:27:45 +11:00
Andrew Tridgell 13dac4a93a DCM: adjust yaw kp constant down to 0.4 
this makes the time constant for compass errors closely match the
timing of the older releases - about 10 seconds for a 1 radian change
in heading
 2012-03-12 17:49:26 +11:00
Andrew Tridgell 7daaadf776 Compass: fixed the order of rotations in the compass driver 
this should fix the massive heading issues that people have been
reporting. Please test!
 2012-03-12 17:33:15 +11:00
Andrew Tridgell c08fd50542 AP_Declination: fixed build of test sketch 2012-03-12 17:33:15 +11:00
Amilcar Lucas 6e9ffb4249 correct small typos in comments 2012-03-11 21:30:09 +01:00
Andrew Tridgell b337441ec5 SITL: added pgm_read_byte_far() 2012-03-11 20:59:47 +11:00
Andrew Tridgell c1b945018b AP_Declination: fixed usage of headers 2012-03-11 20:59:47 +11:00
Adam M Rivera b9be6ed290 AP_Declination: Updated comment. 
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
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 3b2609c441 DCM: separate out the omega_yaw_P from omega_P 
this cleans up the separation of drift rates and proportional
correction from yaw source and accelerometers, allow the yaw
to run at a different rate to the accel correction
 2012-03-10 10:34:33 +11:00