Andrew Tridgell
e1ff9a641b
SITL: prevent nested timer interrupts
2012-03-10 10:34:31 +11:00
Andrew Tridgell
d11aab610d
Quat: test patch for michael
2012-03-10 10:34:31 +11:00
Andrew Tridgell
a954f68f27
Quaternion: added NaN paranoid checking
...
this is for Michael to run
2012-03-10 10:34:30 +11:00
Andrew Tridgell
756a91a3ee
ACM: removed incorrect mode definition
2012-03-10 10:34:30 +11:00
Andrew Tridgell
d24b055b66
Math: added comment on quaternion constructor
2012-03-10 10:34:30 +11:00
Andrew Tridgell
1f5095e722
Math: added is_inf() on vector3f
2012-03-10 10:34:30 +11:00
Andrew Tridgell
89a10c584d
Quaternion: added more numerical safety in the quaternion code
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prevent infinities from creeping in and prevent large drift changes
2012-03-10 10:34:30 +11:00
Andrew Tridgell
f2e6714598
AP_Math: added quaternion helper functions and a test suite
2012-03-10 10:34:30 +11:00
Andrew Tridgell
f71311fdc0
Quaternion: fix the gyro bias in centripetal and remove smoothing
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the centripetal code needs to take account of the current gyro
bias.
It turned out that the accel and gyro smoothing was causing
significant control lag, and we're better off just letting the
quaternion code handle it via its own smoothing parameters
2012-03-10 10:34:30 +11:00
Andrew Tridgell
76736792f8
SITL: disable interrupts during register updates
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this may prevent bogus mode channel reads
2012-03-10 10:34:30 +11:00
Andrew Tridgell
e445a455d0
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
1ea1b500a6
Quaternion: don't update if we have a very long deltat
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this can be caused by stopping the system in a debugger
2012-03-10 10:34:30 +11:00
Andrew Tridgell
8b73166605
Compass: fixed last_update time for HIL compass
2012-03-10 10:34:30 +11:00
Andrew Tridgell
2969e16f7d
RC: disable interrupts when reading the RC registers
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this prevents getting bogus values which could cause a flight mode
change
2012-03-10 10:34:30 +11:00
Andrew Tridgell
efe2686b33
GPS: added an acceleration estimate to the GPS driver
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This uses the GPS ground speed to estimate acceleration
2012-03-10 10:34:30 +11:00
Andrew Tridgell
02ae5358d5
GPS: fixed some stdint types
2012-03-10 10:34:29 +11:00
Andrew Tridgell
2f5a4cdc4a
Quaternion: added in reporting of gyro drift and rp/yaw errors
2012-03-10 10:34:29 +11:00
Andrew Tridgell
04826065ef
Quaternion: show "Quaternion test" on startup if enabled
2012-03-10 10:34:29 +11:00
Andrew Tridgell
934a05bbc6
fixed comment
2012-03-10 10:34:29 +11:00
Andrew Tridgell
a60cf111c5
DCM: fixed an uninitialised variable warning
2012-03-10 10:34:29 +11:00
Andrew Tridgell
7d9c4094a2
Quaternion: tweak the quaternion gains a bit
2012-03-10 10:34:29 +11:00
Andrew Tridgell
e33bb217bc
AP_IMU: improved the gyro calibration code
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this should give a much more accurate result
2012-03-10 10:34:29 +11:00
Andrew Tridgell
de1cfc8e34
Quaternion: drop the gyro drift rates down
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this should allow us to cope with noise more readily
2012-03-10 10:34:29 +11:00
Andrew Tridgell
2d6680f144
DCM: fixed bug in accel averaging
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sorry Randy!
2012-03-10 10:34:29 +11:00
Andrew Tridgell
73594199c8
AP_Quaternion: fixed build on Arduino 1.0
2012-03-10 10:34:29 +11:00
Andrew Tridgell
1591d41b33
ACM: make it possible to build ArduCopter with quaternions
2012-03-10 10:34:29 +11:00
Andrew Tridgell
bc81d8e6ac
ACM: only call the fast loop if the imu has new data
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this prevents us spinning waiting for the sensors to gather some data
2012-03-10 10:34:29 +11:00
Andrew Tridgell
aa4beb9753
APM: make it possible to build ArduPlane with quaternion support
2012-03-10 10:34:29 +11:00
Andrew Tridgell
a85ba80246
AP_Quaternion: added DCM compatibility interfaces
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useful for getting the code going quickly
2012-03-10 10:34:29 +11:00
Andrew Tridgell
626f8598ed
AP_IMU: added new_data_available() interface
2012-03-10 10:34:29 +11:00
Andrew Tridgell
a052aa8435
AP_InertialSensor: added new_data_available() interface
2012-03-10 10:34:28 +11:00
Andrew Tridgell
61d649e7ac
AP_ADC: added new_data_available() interface
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returns true if more samples are available
2012-03-10 10:34:28 +11:00
Andrew Tridgell
4a277f9871
fixed deltat in quaternion
2012-03-10 10:34:28 +11:00
Andrew Tridgell
353f9e613f
SITL: make SITL not depend on DCM
2012-03-10 10:34:28 +11:00
Andrew Tridgell
fb23c617fa
Quaternion: added an AP_Quaternion library
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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
a05eeab55e
SITL: reduce the simulated compass offsets
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this was causing us problems in getting DCM right
2012-03-10 10:34:28 +11:00
Andrew Tridgell
a54d6f744e
HWSTATUS: if we don't know the voltage, report it as zero
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this will tell us if board_voltage() is really working
2012-03-10 10:34:28 +11:00
Andrew Tridgell
9393b21a8d
ACM: adjust yaw drift correction constants
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this should give the compass a bit more authority
2012-03-10 10:34:28 +11:00
Andrew Tridgell
8e162ec35b
APM: fixed reset of control switch when short_fs_action is disabled
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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
d03b11092b
SITL: separate out drift speed and drift level
2012-03-10 10:34:28 +11:00
Andrew Tridgell
71d3847bfc
SITL: added a drift_level multiplier
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this makes it easier to experiment with different gyro drift levels
2012-03-10 10:34:28 +11:00
Andrew Tridgell
61ebcfe9fe
DCM: fixed the averaging of accel values for update_DCM_fast()
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this should improve drift correction for ArduCopter
2012-03-10 10:34:28 +11:00
Andrew Tridgell
de32c3bc31
AP_Math: added a .zero() method to Vector3f
2012-03-10 10:34:28 +11:00
Andrew Tridgell
a0e2e69431
SITL: fixed delay() to account for signal interrupions
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when a timer went off we stopped the delay() code
2012-03-10 10:34:28 +11:00
Andrew Tridgell
37ab76c9e6
DCM_Test: fixed example code to work with SITL
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this also fixes the compass setup
2012-03-10 10:34:27 +11:00
Andrew Tridgell
d2a969ee95
SITL: push noise level to 2.0 for DCM testing
2012-03-10 10:34:27 +11:00
Andrew Tridgell
506b91a587
autotest: run fg viewers with less CPU priority
2012-03-10 10:34:27 +11:00
Andrew Tridgell
65b26619d4
autotest: added CMAC test circuit
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this is what I am using for noise testing
2012-03-10 10:34:27 +11:00
Andrew Tridgell
79b8ddc236
DCM: added a small amount of accel smoothing to update_DCM_fast()
2012-03-10 10:34:27 +11:00
Andrew Tridgell
b07a3eb966
ACM: added SIMSTATE, DCM and HWSTATUS messages to ACM
2012-03-10 10:34:27 +11:00