d9cc967508
AHRS: force an extra read of the compass on startup
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the first read from the compass can be bad. This ensures we have a
good value when getting the initial AHRS yaw.
Thanks to Randy and Jason for the bug report!
2012-08-17 17:57:39 +10:00
73dcbc24c3
Quaternion: we no longer support acceleration in the GPS driver
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remove the linear acceleration compensation code
2012-08-15 20:07:53 +10:00
9b4b7997b6
AHRS: added ahrs.yaw_initialised()
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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
48e275e22d
AHRS: avoid a compiler bug in quaternion code
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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
19a5d11669
AHRS: use airspeed for wind in forward flight
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when not turning we can use the airspeed sensor directly to calculate
the wind speed.
2012-08-12 10:54:25 +10:00
f5b7ae213c
AHRS: added AHRS_GPS_USE parameter
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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
779dacfd24
AHRS: added wind estimation code
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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
af4071894e
AHRS: added long-term dead-reckoning
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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
f95b06a880
AHRS: make airspeed sensor available to AHRS
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this will be used for long term dead-reckoning
2012-08-11 08:57:32 +10:00
b01907cf23
ACM: fixed HIL build
2012-08-11 08:34:16 +10:00
52b2aacf28
AHRS DCM: FOrmatting
2012-08-09 16:59:43 -07:00
898a5af692
AP_Param: update AHRS for new constructor syntax
2012-08-08 12:11:57 +10:00
0eaf427062
AP_AHRS_MPU6000: cleaning up compiler warning due to unused yaw_deltat variable
2012-07-28 16:23:25 +09:00
1b521a9f73
AP_AHRS: updated test sketch to allow use of MPU6000's DMP
2012-07-28 14:27:26 +09:00
dbe7c8ed1a
AP_AHRS_MPU6000: first draft implementation of class that uses MPU6000's DMP to calculate attitude
2012-07-28 14:17:38 +09:00
b844bb7919
AP_AHRS: removed var_info from AP_AHRS class (moved to AP_AHRS_DCM)
2012-07-28 14:16:56 +09:00
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
9cd98e79dd
AHRS: normalise GA_b before computing error vector only if too large
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When GA_b is small the direction of the vector is unreliable, so
normalising can exacerbate the error in the direction
2012-07-23 17:16:50 +10:00
5f5ab9c07c
AHRS: if we don't have gps correction enabled, zero the yaw correction
2012-07-20 17:21:04 +10:00
c937738732
AHRS: allow the gps/accelerometers to control yaw when rolled
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this solves a problem with yaw estimation when at high roll angles,
when the compass code becomes ineffective
2012-07-20 11:50:04 +10:00
a469682b7b
fix param config names
2012-07-14 15:34:15 +08:00
165604a55c
AHRS: fixed HIL build
2012-07-10 18:02:05 +10:00
0f9fb2c64b
AHRS: added AHRS_GPS_GAIN parameter
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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
302696951a
AHRS: make the yaw independent drift correction optional and disable
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the new correction algorithm copes poorly with gyro drift, leading to
signification attitude errors in the face of drift
2012-07-06 15:11:30 +10:00
8c5ef3e60f
AHRS: only enable barometer for AHRS if it is smooth enough
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if we used less than 5 samples to compute the pressure then don't use
it for climb rate
2012-07-05 16:29:21 +10:00
2cd6da2539
AHRS: only use GPS for yaw when compass is not being used
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this avoids having two competing controllers
2012-07-05 13:00:46 +10:00
adfa97b6f8
AHRS: enable barometer for vertical velocity
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this re-enables the barometer for vertical velocity information
for drift correction, now that we have a better filter
on the climb rate
2012-07-05 13:00:46 +10:00
faeda3713e
AP_AHRS: removed DCM_test example sketch
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No longer required because it doesn't compile and is redundant anyway because the AP_AHRS_DCM class is tested in the AHRS_Test example sketch.
2012-07-04 18:22:51 +09:00
3849ca8b5c
AHRS: make DCM drift correction not rely on accurate yaw
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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
1314e4f872
AHRS: make P gain on PI roll/pitch controller tunable
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this is to make it easier for Craig and Alan to tune
2012-07-04 12:42:46 +10:00
136c03c3c0
AHRS: include the P terms in get_gyro()
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this makes it more useful for navigation controllers
2012-06-29 21:54:09 +10:00
16c55c64d4
AHRS: don't add the P terms in _omega
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this can lead feedback via the _P_gain()
2012-06-29 15:10:51 +10:00
37fc6c46b9
AHRS: disable barometer for vertical acceleration
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this seems to have been the cause of the 'flips' seen by Marco and
others. Testing by Craig and Alan shows that the flips are gone when
the barometric acceleration is removed.
It looks like a 5 point average filter is not enough to keep the
vertical acceleteration noise low. With high noise in the z axes, the
x and y axes are scaled back when the ge vector is normalised.
2012-06-28 11:12:49 +10:00
58c4d458dc
AHRS: re-instate new DCM drift correction code
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This reverts commit 078489638d47fbaffde7c51249e36b5a8fc4ef9d.
2012-06-28 11:09:22 +10:00
fd241692d0
AHRS: revert to the old drift correction algorithm
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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
8e044a560b
AHRS: include P term in omega
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thanks to Jon for suggesting this
2012-06-27 16:01:50 +10:00
37e2f2ee2c
AHRS: implement spin rate limits
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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
e4a245179c
AHRS: cope with copters with no compass
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if a copter doesn't have a compass, we can't use the GPS for gyro
drift correction
2012-06-27 16:01:50 +10:00
3a41ad8e7c
AHRS: normalize the ge vector in drift correction, and use barometer
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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
d230690b7b
AHRS: brought DCM more inline with Bill's implementation
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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
d4c8041c51
AHRS: first successful version of Bills new drift correction system
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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
4d08f75292
AHRS: update for new _fly_forward flag
2012-06-27 16:01:49 +10:00
0f5c22bd8e
AHRS: implement Bills new drift correction algorithm
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this is an initial implementation of this paper:
http://gentlenav.googlecode.com/files/RollPitchDriftCompensation.pdf
2012-06-27 16:01:49 +10:00
52d77407d4
AHRS: added GPS support to AHRS test
2012-06-27 16:01:49 +10:00
f274df454a
DCM: fixed a bug when using GPS for yaw correction
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When using GPS for yaw correction we need to apply the x and y omegaI
corrections from the _omega_I_sum in the period before we get to the
minimum ground speed for GPS yaw correction. Otherwise we get a large
sudden omega_I change on takeoff.
2012-05-21 12:15:06 +10:00
6e1798b104
AP_AHRS: updated default AHRS_YAW_P to 0.2 (was 0.4)
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This reduces the compass's default authority over the yaw direction by half
2012-04-30 17:29:45 +09:00
3309dec205
AP_AHRS_DCM.cpp: Added comments that follow the new parse structure
2012-04-25 12:00:42 -05:00
2a3af369b6
DCM: buffer omega_I changes over 10 seconds
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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
f27d85cb8d
DCM: drop the 'drop z' method
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the 'drop z' method reduced the impact of noise on omegaI, but it also
made us more sensitive to errors in accelerometer calibration and
scaling, as demonstated by the logs from Gabor here:
http://diydrones.com/xn/detail/705844:Comment:834373
Simulation testing shows that the other noise suppression methods
applied in the DCM code, in particular the slope limiting on omegaI
the removal of the weighting and the upcoming use of a _omega_I_sum
buffer have reduced the impact of noise enough that we can now safely
include z in the acceleration calculation.
2012-04-23 12:13:24 +10:00
b500d9430f
AP_AHRS_HIL.h: Fixed HIL build by adding missing public property.
2012-04-16 10:26:14 -05:00
8e90aeea4e
AHRS: added AHRS_YAW_P parameter
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this allows users to change the yaw gain in DCM
2012-04-16 20:55:13 +10:00
c96dfb2108
AP_AHRS - changed parameter order to remove compiler warning
2012-04-09 17:37:11 +09:00
b549b88e5e
AHRS: fixed error_yaw reporting with 2 MAVLink connections
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when a user first connects with USB, and later switches to the
telemetry port without restarting we were getting zero for error_yaw
in the logs, as AHRS.get_error_yaw() was being called twice.
This ensures we give the last value after the counter is reset
2012-03-29 12:39:53 +11:00
f4d1295a4b
AHRS: fixed build of AHRS example
2012-03-22 23:00:45 +11:00
9e6c18cca4
AHRS: added missing AP_AHRS.h
2012-03-19 17:35:20 +11:00
4f82134a5e
DCM: use the new rotate() method from AP_Math
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this allows us to use a tested and optimised rotation method
2012-03-19 17:29:02 +11:00
c53b320e00
Quaternion: change signs in AP_AHRS_Quaternion
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thanks to Justin for the suggestion
2012-03-19 17:29:02 +11:00
79b9be8b1a
AHRS: fixup the AHRS test suite for the new framework
2012-03-19 17:29:02 +11:00
f8087d3c67
AHRS: adapt the quaternion library to AHRS
2012-03-19 17:29:02 +11:00
8dcf82b433
AHRS: adapt the DCM_HIL library to AHRS
2012-03-19 17:29:02 +11:00
d4bb068d5b
AHRS: adapt the DCM library to the AHRS framework
2012-03-19 17:29:02 +11:00
9d75ffeba1
AHRS: rename DCM and Quaternion implementions ready for AHRS class
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this is the first step to creating a general AHRS class for ArduPilot
2012-03-19 17:29:01 +11:00
Andrew Tridgell
Jason Short
rmackay9
Jonathan Challinger
Michael Oborne
Adam M Rivera