Andrew Tridgell
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e445a455d0
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Quaternion: use GPS to correct for linear acceleration
this gives much better pitch estimates. We should do this with the
airspeed sensor if available.
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2012-03-10 10:34:30 +11:00 |
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Andrew Tridgell
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1ea1b500a6
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Quaternion: don't update if we have a very long deltat
this can be caused by stopping the system in a debugger
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2012-03-10 10:34:30 +11:00 |
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Andrew Tridgell
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2f5a4cdc4a
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Quaternion: added in reporting of gyro drift and rp/yaw errors
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2012-03-10 10:34:29 +11:00 |
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Andrew Tridgell
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7d9c4094a2
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Quaternion: tweak the quaternion gains a bit
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2012-03-10 10:34:29 +11:00 |
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Andrew Tridgell
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de1cfc8e34
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Quaternion: drop the gyro drift rates down
this should allow us to cope with noise more readily
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2012-03-10 10:34:29 +11:00 |
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Andrew Tridgell
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73594199c8
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AP_Quaternion: fixed build on Arduino 1.0
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2012-03-10 10:34:29 +11:00 |
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Andrew Tridgell
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a85ba80246
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AP_Quaternion: added DCM compatibility interfaces
useful for getting the code going quickly
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2012-03-10 10:34:29 +11:00 |
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Andrew Tridgell
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4a277f9871
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fixed deltat in quaternion
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2012-03-10 10:34:28 +11:00 |
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Andrew Tridgell
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fb23c617fa
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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
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2012-03-10 10:34:28 +11:00 |
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