9 Commits

Author	SHA1	Message	Date
Andrew Tridgell	89a10c584d	Quaternion: added more numerical safety in the quaternion code ... prevent infinities from creeping in and prevent large drift changes	2012-03-10 10:34:30 +11:00
Andrew Tridgell	f71311fdc0	Quaternion: fix the gyro bias in centripetal and remove smoothing ... 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	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 ... this can be caused by stopping the system in a debugger	2012-03-10 10:34:30 +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	73594199c8	AP_Quaternion: fixed build on Arduino 1.0	2012-03-10 10:34:29 +11:00
Andrew Tridgell	a85ba80246	AP_Quaternion: added DCM compatibility interfaces ... useful for getting the code going quickly	2012-03-10 10:34:29 +11:00
Andrew Tridgell	4a277f9871	fixed deltat in quaternion	2012-03-10 10:34:28 +11:00
Andrew Tridgell	fb23c617fa	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