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3760 Commits

Author SHA1 Message Date
Andrew Tridgell 13bddf05b0 ACM: removed the special case for quaternions in GCS code 2012-03-10 10:34:31 +11:00
Andrew Tridgell 1547977e1b ACM: no need to fetch offsets at startup 
AP_Param handles this
 2012-03-10 10:34:31 +11:00
Andrew Tridgell 34d25ab298 ACM: removed a lot of the special case code for quaternions 2012-03-10 10:34:31 +11:00
Andrew Tridgell e780dd2b44 ACM: change DCM loop to 100Hz 
On my APM2 quad this seems to give better results
 2012-03-10 10:34:31 +11:00
Andrew Tridgell 4c6afa36cb DCM: removed update_DCM_fast 
this combines the functionality of the 'fast' DCM with the normal one,
and also speeds up both the yaw drift correction and the matrix update
code
 2012-03-10 10:34:31 +11:00
Andrew Tridgell 2c279639a3 AP_IMU: fixed led flashing in gyro cal 
thanks Pat!
 2012-03-10 10:34:31 +11:00
Andrew Tridgell b39323bf1b AP_Math: expanded the math test suite 2012-03-10 10:34:31 +11:00
Andrew Tridgell a8fd31a5e1 AP_Math: added quaternion->matrix and earth frame routines 
this will be used for 3d acceleration
 2012-03-10 10:34:31 +11:00
Andrew Tridgell d3dc5bd751 AP_Math: better way of handling safe_sqrt() 
better to test the result, than predict it
 2012-03-10 10:34:31 +11:00
Andrew Tridgell b273df0725 SITL: avoid parent pid code on cygwin 
this causes problems on windows
 2012-03-10 10:34:31 +11:00
Andrew Tridgell e1ff9a641b SITL: prevent nested timer interrupts 2012-03-10 10:34:31 +11:00
Andrew Tridgell d11aab610d Quat: test patch for michael 2012-03-10 10:34:31 +11:00
Andrew Tridgell a954f68f27 Quaternion: added NaN paranoid checking 
this is for Michael to run
 2012-03-10 10:34:30 +11:00
Andrew Tridgell 756a91a3ee ACM: removed incorrect mode definition 2012-03-10 10:34:30 +11:00
Andrew Tridgell d24b055b66 Math: added comment on quaternion constructor 2012-03-10 10:34:30 +11:00
Andrew Tridgell 1f5095e722 Math: added is_inf() on vector3f 2012-03-10 10:34:30 +11:00
Andrew Tridgell 89a10c584d Quaternion: added more numerical safety in the quaternion code 
prevent infinities from creeping in and prevent large drift changes
 2012-03-10 10:34:30 +11:00
Andrew Tridgell f2e6714598 AP_Math: added quaternion helper functions and a test suite 2012-03-10 10:34:30 +11:00
Andrew Tridgell f71311fdc0 Quaternion: fix the gyro bias in centripetal and remove smoothing 
the centripetal code needs to take account of the current gyro
bias.

It turned out that the accel and gyro smoothing was causing
significant control lag, and we're better off just letting the
quaternion code handle it via its own smoothing parameters
 2012-03-10 10:34:30 +11:00
Andrew Tridgell 76736792f8 SITL: disable interrupts during register updates 
this may prevent bogus mode channel reads
 2012-03-10 10:34:30 +11:00
Andrew Tridgell e445a455d0 Quaternion: use GPS to correct for linear acceleration 
this gives much better pitch estimates. We should do this with the
airspeed sensor if available.
 2012-03-10 10:34:30 +11:00
Andrew Tridgell 1ea1b500a6 Quaternion: don't update if we have a very long deltat 
this can be caused by stopping the system in a debugger
 2012-03-10 10:34:30 +11:00
Andrew Tridgell 8b73166605 Compass: fixed last_update time for HIL compass 2012-03-10 10:34:30 +11:00
Andrew Tridgell 2969e16f7d RC: disable interrupts when reading the RC registers 
this prevents getting bogus values which could cause a flight mode
change
 2012-03-10 10:34:30 +11:00
Andrew Tridgell efe2686b33 GPS: added an acceleration estimate to the GPS driver 
This uses the GPS ground speed to estimate acceleration
 2012-03-10 10:34:30 +11:00
Andrew Tridgell 02ae5358d5 GPS: fixed some stdint types 2012-03-10 10:34:29 +11:00
Andrew Tridgell 2f5a4cdc4a Quaternion: added in reporting of gyro drift and rp/yaw errors 2012-03-10 10:34:29 +11:00
Andrew Tridgell 04826065ef Quaternion: show "Quaternion test" on startup if enabled 2012-03-10 10:34:29 +11:00
Andrew Tridgell 934a05bbc6 fixed comment 2012-03-10 10:34:29 +11:00
Andrew Tridgell a60cf111c5 DCM: fixed an uninitialised variable warning 2012-03-10 10:34:29 +11:00
Andrew Tridgell 7d9c4094a2 Quaternion: tweak the quaternion gains a bit 2012-03-10 10:34:29 +11:00
Andrew Tridgell e33bb217bc AP_IMU: improved the gyro calibration code 
this should give a much more accurate result
 2012-03-10 10:34:29 +11:00
Andrew Tridgell de1cfc8e34 Quaternion: drop the gyro drift rates down 
this should allow us to cope with noise more readily
 2012-03-10 10:34:29 +11:00
Andrew Tridgell 2d6680f144 DCM: fixed bug in accel averaging 
sorry Randy!
 2012-03-10 10:34:29 +11:00
Andrew Tridgell 73594199c8 AP_Quaternion: fixed build on Arduino 1.0 2012-03-10 10:34:29 +11:00
Andrew Tridgell 1591d41b33 ACM: make it possible to build ArduCopter with quaternions 2012-03-10 10:34:29 +11:00
Andrew Tridgell bc81d8e6ac ACM: only call the fast loop if the imu has new data 
this prevents us spinning waiting for the sensors to gather some data
 2012-03-10 10:34:29 +11:00
Andrew Tridgell aa4beb9753 APM: make it possible to build ArduPlane with quaternion support 2012-03-10 10:34:29 +11:00
Andrew Tridgell a85ba80246 AP_Quaternion: added DCM compatibility interfaces 
useful for getting the code going quickly
 2012-03-10 10:34:29 +11:00
Andrew Tridgell 626f8598ed AP_IMU: added new_data_available() interface 2012-03-10 10:34:29 +11:00
Andrew Tridgell a052aa8435 AP_InertialSensor: added new_data_available() interface 2012-03-10 10:34:28 +11:00
Andrew Tridgell 61d649e7ac AP_ADC: added new_data_available() interface 
returns true if more samples are available
 2012-03-10 10:34:28 +11:00
Andrew Tridgell 4a277f9871 fixed deltat in quaternion 2012-03-10 10:34:28 +11:00
Andrew Tridgell 353f9e613f SITL: make SITL not depend on DCM 2012-03-10 10:34:28 +11:00
Andrew Tridgell fb23c617fa Quaternion: added an AP_Quaternion library 
this is for experimenting with the Madgwick quaternion system, to see
if it is more or less noise sensitive than DCM
 2012-03-10 10:34:28 +11:00
Andrew Tridgell a05eeab55e SITL: reduce the simulated compass offsets 
this was causing us problems in getting DCM right
 2012-03-10 10:34:28 +11:00
Andrew Tridgell a54d6f744e HWSTATUS: if we don't know the voltage, report it as zero 
this will tell us if board_voltage() is really working
 2012-03-10 10:34:28 +11:00
Andrew Tridgell 9393b21a8d ACM: adjust yaw drift correction constants 
this should give the compass a bit more authority
 2012-03-10 10:34:28 +11:00
Andrew Tridgell 8e162ec35b APM: fixed reset of control switch when short_fs_action is disabled 
When FS_SHORT_ACTN is 0, we should not re-read the control switch
unless we changed mode on the initial short fs action
 2012-03-10 10:34:28 +11:00
Andrew Tridgell d03b11092b SITL: separate out drift speed and drift level 2012-03-10 10:34:28 +11:00