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3640 Commits

Author SHA1 Message Date
Andrew Tridgell 7256652de5 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 c7ef72cf28 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 6d356b6c6e Compass: fixed last_update time for HIL compass 2012-03-10 10:34:30 +11:00
Andrew Tridgell ebc55bb494 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 57f67ca6e3 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 7fbfcc2721 GPS: fixed some stdint types 2012-03-10 10:34:29 +11:00
Andrew Tridgell e699e9ace0 Quaternion: added in reporting of gyro drift and rp/yaw errors 2012-03-10 10:34:29 +11:00
Andrew Tridgell 7a9b3d3388 Quaternion: show "Quaternion test" on startup if enabled 2012-03-10 10:34:29 +11:00
Andrew Tridgell 2a8b167d95 fixed comment 2012-03-10 10:34:29 +11:00
Andrew Tridgell c73c55aa90 DCM: fixed an uninitialised variable warning 2012-03-10 10:34:29 +11:00
Andrew Tridgell d8234882d4 Quaternion: tweak the quaternion gains a bit 2012-03-10 10:34:29 +11:00
Andrew Tridgell cc887949c9 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 ffa6786697 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 bee4bd9474 DCM: fixed bug in accel averaging 
sorry Randy!
 2012-03-10 10:34:29 +11:00
Andrew Tridgell 25e5ddeaa4 AP_Quaternion: fixed build on Arduino 1.0 2012-03-10 10:34:29 +11:00
Andrew Tridgell 7e4c8592ff ACM: make it possible to build ArduCopter with quaternions 2012-03-10 10:34:29 +11:00
Andrew Tridgell 9bff4e2c4c 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 e39c3cb9d2 APM: make it possible to build ArduPlane with quaternion support 2012-03-10 10:34:29 +11:00
Andrew Tridgell c369d9f60a AP_Quaternion: added DCM compatibility interfaces 
useful for getting the code going quickly
 2012-03-10 10:34:29 +11:00
Andrew Tridgell 6138f31cec AP_IMU: added new_data_available() interface 2012-03-10 10:34:29 +11:00
Andrew Tridgell a9dea35310 AP_InertialSensor: added new_data_available() interface 2012-03-10 10:34:28 +11:00
Andrew Tridgell c80ec9a55c AP_ADC: added new_data_available() interface 
returns true if more samples are available
 2012-03-10 10:34:28 +11:00
Andrew Tridgell c8a459ab0d fixed deltat in quaternion 2012-03-10 10:34:28 +11:00
Andrew Tridgell a791224d07 SITL: make SITL not depend on DCM 2012-03-10 10:34:28 +11:00
Andrew Tridgell 74eef7018a 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 fd2a24f8ed 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 367947fd33 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 64cc04ae09 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 511f65e2ef 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 bddc6ba241 SITL: separate out drift speed and drift level 2012-03-10 10:34:28 +11:00
Andrew Tridgell 25cad09746 SITL: added a drift_level multiplier 
this makes it easier to experiment with different gyro drift levels
 2012-03-10 10:34:28 +11:00
Andrew Tridgell b11b571778 DCM: fixed the averaging of accel values for update_DCM_fast() 
this should improve drift correction for ArduCopter
 2012-03-10 10:34:28 +11:00
Andrew Tridgell 145fc91701 AP_Math: added a .zero() method to Vector3f 2012-03-10 10:34:28 +11:00
Andrew Tridgell ae51173656 SITL: fixed delay() to account for signal interrupions 
when a timer went off we stopped the delay() code
 2012-03-10 10:34:28 +11:00
Andrew Tridgell fe173227de DCM_Test: fixed example code to work with SITL 
this also fixes the compass setup
 2012-03-10 10:34:27 +11:00
Andrew Tridgell 8424609924 SITL: push noise level to 2.0 for DCM testing 2012-03-10 10:34:27 +11:00
Andrew Tridgell accc5dc02f autotest: run fg viewers with less CPU priority 2012-03-10 10:34:27 +11:00
Andrew Tridgell 5e66d3cecb autotest: added CMAC test circuit 
this is what I am using for noise testing
 2012-03-10 10:34:27 +11:00
Andrew Tridgell 6ba6e11e7b DCM: added a small amount of accel smoothing to update_DCM_fast() 2012-03-10 10:34:27 +11:00
Andrew Tridgell a0ce202d87 ACM: added SIMSTATE, DCM and HWSTATUS messages to ACM 2012-03-10 10:34:27 +11:00
Andrew Tridgell 3b1782f369 DCM: don't use the z accel sensor for drift correction 
the z accel is the noisest, and seems to do more harm than good. Using
just x and y is sufficient for drift correction by assuming the vector
length
 2012-03-10 10:34:27 +11:00
Andrew Tridgell 4031320f7c DCM: added a small amount of gyro and accel smoothing 
possibly not needed, but convenient to be able to test with different
values
 2012-03-10 10:34:27 +11:00
Andrew Tridgell b455443e2c APM: added logging of DCM, HWSTATUS and SIMSTATE 2012-03-10 10:34:27 +11:00
Andrew Tridgell 94d0236b97 DCM: added reporting interfaces for DCM state 2012-03-10 10:34:27 +11:00
Andrew Tridgell 772c30ba86 SITL: added sitl_simstate_send() 
used to report simulator state in logs
 2012-03-10 10:34:27 +11:00
Andrew Tridgell 9df332f0ae MAVLink: import new message types DCM, HWSTATUS and SIMSTATE 2012-03-10 10:34:27 +11:00
Andrew Tridgell cc8278c1ac DCM: got rid of _error_roll_pitch from object state 
this can be a local error variable in common with the yaw code. This
saves 12 bytes in the object.
 2012-03-10 10:34:27 +11:00
Michael Oborne 986f1675ad APM Planner 1.1.50 
rename messagebox to custommessagebox
mag calibration now working. > hardware setup tab
 2012-03-09 23:18:12 +08:00
Jason Short 486c56ce41 Consolidated Barometer pressure sensing to a single filter based on Randy's new filter class. 2012-03-08 23:13:04 -08:00
Jason Short c8e9d57567 temp remove filter for quad motors during testing. It's unlikely this filter did anything at all to be honest. 2012-03-06 22:23:06 -08:00