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49 Commits

Author SHA1 Message Date
Randy Mackay 0e11189c35 AP_InertialNav: add comments 2014-10-20 11:12:54 +09:00
Jonathan Challinger 5e381280dc AP_InertialNav: update properly if home position moves 2014-10-20 10:59:50 +09:00
Randy Mackay 009f42b2e1 InertialNav: do not reset velocity after glitch clears 2014-08-04 11:31:46 +09:00
Randy Mackay 538372c02c InertialNav: remove accessor to set time_constants 2014-08-01 15:14:43 +09:00
Randy Mackay 322f527c4f InertialNav: skip baro updates when glitching 
Also resets inertial nav alt estimate once glitch clears
 2014-07-28 22:16:19 +09:00
Randy Mackay 1e888e5c34 AP_InertialNav: append f to floating point constants 
Reduces some compiler warnings
 2014-07-16 14:38:43 +09:00
lthall 4072fcd99e Inav: use horizontal body frame for accel corrections 2014-06-21 14:58:59 +09:00
Ju1ien 28ce66f314 INav: clear historic z-axis position estimate when set_altitude called 2014-06-06 18:42:42 +09:00
Hug0 6b0d5f9770 AP_InertialNav: fix pos error degradation rate 
degrate position_error to 10% over 2 seconds (assumes 5hz update rate)
must be *0.7943 instead of 0.7934
 2014-05-08 23:09:39 +09:00
Randy Mackay 0e065e4894 AP_InertialNav: get_velocity_xy const 2014-04-21 21:59:38 +09:00
Randy Mackay 2ddc414f4d InertialNav: replace safe_sqrt with pythagorous2 2014-04-01 20:43:53 +09:00
Andrew Tridgell d04d33a02d AP_InertialNav: convert to new GPS API 2014-04-01 06:38:24 +11:00
Andrew Tridgell 99097d80a1 AP_InertialNav: use AHRS home location 2014-02-15 05:48:15 +11:00
Andrew Tridgell cfc612b251 AP_InertialNav: use references to AHRS and baro 2014-02-15 05:29:45 +11:00
Randy Mackay dacca04b21 INav: record error_count when GPS msg is late 2013-11-21 17:02:02 +09:00
Randy Mackay a147eeb1e3 INav: degrade pos error slowly on loss of GPS 
When GPS message is late by 100ms or we are glitching, degrade the GPS
vs inertial nav position error to 10% over 2 seconds instead of
immediately setting it to zero.  This avoids jumpy position estimates
when the GPS misses an update
 2013-11-18 23:19:57 +09:00
Jason Short 1c7d9f43c1 InertialNav: fix for get_velocity_xy 
forgot to sq
 2013-11-03 10:14:01 +09:00
Jason Short 2de6dbd3d8 InertialNav: added get_velocity_xy 2013-11-02 21:34:45 +09:00
Randy Mackay 4348a272bf AP_InertialNav: remove unused velocity fns 
remove get_longitude_velocity and get_latitude_velocity
 2013-10-27 13:41:55 +09:00
Randy Mackay 8fc16d5cdf AP_InertialNav: add comments, make ahrs const from neurocopter 
These fixes are provided by neurocopter but with my name because of
merge conflicts
_position and _velocity vectors added to save some floating point add
operations
unused reference to ins in constructor removed
 2013-10-27 13:41:50 +09:00
Randy Mackay e23135faa1 AP_InertialNav: bug fix for gps delay handling 2013-10-27 13:41:40 +09:00
Tobias cfaaf4b1e7 AP_InertialNav: rename AP_Buffer functions, fix delay handling bug 
The most recent value was used instead of the intended historical value
as indicated by the comment.
 2013-10-27 13:41:38 +09:00
Tobias 6c825eace2 AP_InertialNav: move variable definitions to elide unused default 
construction of objects (saves 106 bytes)
 2013-10-27 13:41:32 +09:00
Tobias cbff58e2ed AP_InertialNav: add comments, rename incorrectly named member, 
initialize member, remove redundant assignment
adjustments to original commit by randy
 2013-10-27 13:39:08 +09:00
Andrew Tridgell 19ba07a3f9 AP_InertialNav: updates for new GPS API 2013-10-24 14:22:47 +11:00
Randy Mackay 262fcb301a InertialNav: rename set_current_position to set_home_position 2013-09-24 21:41:19 +09:00
Randy Mackay 81dd4f8b0c InertialNav: integrate GPS glitch detection 2013-09-24 21:41:13 +09:00
Andrew Tridgell 6b5ee80b70 AP_InertialNav: fix for new AP_Math API 
Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
 2013-08-05 10:24:06 +10:00
Randy Mackay 30faf87715 InertialNav: use AP_Math's longitude_scale 2013-05-05 14:32:25 +09:00
Randy Mackay c20eac7a70 AP_InertialNav: use standard LATLON_TO_CM, DEG_TO_RAD constants 2013-05-04 15:04:55 +09:00
Andrew Tridgell 1849aca0e9 AP_InertialNav: optimise some multiplies 2013-04-22 13:26:49 +10:00
Andrew Tridgell 3d325043b0 AP_InertialNav: make some more functions const 2013-04-22 12:21:58 +10:00
Andrew Tridgell 08c57c2587 AP_InertialNav: reduce number of multiplies 2013-04-22 12:21:58 +10:00
Randy Mackay 777c6a308e AP_InertialNav: use shared GRAVITY_MSS constant 2013-04-05 11:48:41 +09:00
Randy Mackay 38e81adae0 InertialNav: remove unnecessary "virtual" from function definitions 
This saves about 30bytes of RAM
 2013-03-19 17:51:16 +09:00
Randy Mackay c9571ad543 InertialNav: remove 3sec limit on position est after losing GPS 2013-03-16 18:15:59 +09:00
rmackay9 6f1035debc InertialNav: added 300ms timeout after which error from gps heading will be set to zero 2013-01-22 18:37:54 +09:00
Jonathan Challinger 6565d83e73 InertialNav: Fixed signs, remove body-frame rotation, apply correction at 100hz. 2013-01-22 18:37:45 +09:00
James Bielman 5631f865b2 Update floating point calculations to use floats instead of doubles. 
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
 2013-01-16 13:52:01 +11:00
Randy Mackay 109b1069d8 AP_InertialNav: added constraint to how large local accelerometer offset corrections can become 2013-01-13 19:55:09 +11:00
rmackay9 55e6544e64 AP_InertialNav: added parameter descriptions 2013-01-02 16:17:00 +09:00
rmackay9 92e271e517 AP_InertialNav: increase baro delay to 0.5 sec (was 0.2sec) to allow slower baro updates on APM1 2013-01-02 09:55:37 +11:00
rmackay9 af4d998697 AP_InertialNav: correct lat/lon to cm 2013-01-02 09:55:37 +11:00
rmackay9 37b56662bd AP_InertialNav: Jason's bug fix to inertial nav velocity and position calculations 2013-01-02 09:19:39 +11:00
rmackay9 557f4e65de AP_InertialNav: small performance improvement by replacing mul_transpose with direct multiplication of Z axis accel correction to specific elements of dcm 2013-01-02 09:12:40 +11:00
rmackay9 e9fa5dec0f AP_InertialNav: make use of ahrs library's get_accel_ef method to save some cpu cycles 2013-01-02 09:11:25 +11:00
Pat Hickey af4806666f AP_InertialNav: ported to AP_HAL 2012-12-20 14:51:30 +11:00
rmackay9 154e3c33f7 ArduCopter, AP_InertialNav: consolidated ThirdOrderComplementaryFilter into AP_InertialNav to save about 200bytes of RAM 2012-12-10 00:43:11 +09:00
rmackay9 b13264c884 AP_InertialNav: reanme AP_InertialNav and ThirdOrderCompFilter classes to resolve desktop build compiler errors 2012-11-07 22:24:00 +09:00