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
|
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
|
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
|
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
|
6ba6e11e7b
|
DCM: added a small amount of accel smoothing to update_DCM_fast()
|
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
|
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 |
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
|
e57b91c2e2
|
Updated on Barometer - increased the Temp filtering and decreased the pressure filtering to and get less temp noise, faster response from pressure. I'm filtering the Climb rate differently now, so this higher pressure noise should not hurt the derivative calcs at all now.
|
2012-03-06 20:55:35 -08:00 |
rmackay9
|
6c3cf9ad5b
|
AP_RC - removed unused library
|
2012-03-04 18:21:52 +09:00 |
Andrew Tridgell
|
73dafe537e
|
SITL: use the new noise model
use the new noise model at a low level for master until we sort out
DCM noise handling
|
2012-03-02 18:31:07 +11:00 |
Andrew Tridgell
|
5f749325f0
|
APM_RC: allow the fast RC speed to be passed as a parameter
this will allow users to test different speeds
|
2012-03-02 17:57:08 +11:00 |
Andrew Tridgell
|
f4329d2680
|
AP_Param: ensure we can't have duplicate keys in Parameters.h
this is O(n^2), but only at startup, and takes less than 1ms to run.
It catches a very nasty coding error
|
2012-03-02 15:48:28 +11:00 |
Andrew Tridgell
|
1e8d98cdda
|
I2C: added lockup_count() interface
used for reporting I2C problems
|
2012-03-02 15:48:27 +11:00 |
Andrew Tridgell
|
37275d229d
|
SITL: implement cli()/sei() properly for desktop build
this disables simulated hardware interrupts during critical sections
|
2012-03-02 15:48:27 +11:00 |
Jason Short
|
41b435a487
|
Updated fastPWM to 490Hz
|
2012-02-29 22:17:38 -08:00 |
Pat Hickey
|
337af0c7a2
|
AP_Param: nested group recursion into next_group disableable by macro
* c.f. 0251932c81fe7eb, e5515bb6ef82
|
2012-02-29 19:48:43 -08:00 |
Pat Hickey
|
2648694489
|
AP_Param: One more nexted group recursion disableable by macro
* c.f. e5515bb6ef82
|
2012-02-29 18:48:54 -08:00 |
rmackay9
|
fa34ac076e
|
AP_Compass - fixed compile warning
|
2012-02-29 22:57:35 +09:00 |
rmackay9
|
d81c951849
|
AP_Baro - fixed small compiler warning to do with order of parameters in constructor
|
2012-02-29 22:46:29 +09:00 |
rmackay9
|
c819a0f68a
|
AP_Compass - fixed small compiler warning to do with order of parameters in constructor
|
2012-02-29 22:45:49 +09:00 |