ardupilot

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	e699e9ace0	Quaternion: added in reporting of gyro drift and rp/yaw errors	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	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	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	c8a459ab0d	fixed deltat in quaternion	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