de1cfc8e34
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
2d6680f144
DCM: fixed bug in accel averaging
...
sorry Randy!
2012-03-10 10:34:29 +11:00
73594199c8
AP_Quaternion: fixed build on Arduino 1.0
2012-03-10 10:34:29 +11:00
a85ba80246
AP_Quaternion: added DCM compatibility interfaces
...
useful for getting the code going quickly
2012-03-10 10:34:29 +11:00
626f8598ed
AP_IMU: added new_data_available() interface
2012-03-10 10:34:29 +11:00
a052aa8435
AP_InertialSensor: added new_data_available() interface
2012-03-10 10:34:28 +11:00
61d649e7ac
AP_ADC: added new_data_available() interface
...
returns true if more samples are available
2012-03-10 10:34:28 +11:00
4a277f9871
fixed deltat in quaternion
2012-03-10 10:34:28 +11:00
353f9e613f
SITL: make SITL not depend on DCM
2012-03-10 10:34:28 +11:00
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
a05eeab55e
SITL: reduce the simulated compass offsets
...
this was causing us problems in getting DCM right
2012-03-10 10:34:28 +11:00
d03b11092b
SITL: separate out drift speed and drift level
2012-03-10 10:34:28 +11:00
71d3847bfc
SITL: added a drift_level multiplier
...
this makes it easier to experiment with different gyro drift levels
2012-03-10 10:34:28 +11:00
61ebcfe9fe
DCM: fixed the averaging of accel values for update_DCM_fast()
...
this should improve drift correction for ArduCopter
2012-03-10 10:34:28 +11:00
de32c3bc31
AP_Math: added a .zero() method to Vector3f
2012-03-10 10:34:28 +11:00
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
37ab76c9e6
DCM_Test: fixed example code to work with SITL
...
this also fixes the compass setup
2012-03-10 10:34:27 +11:00
d2a969ee95
SITL: push noise level to 2.0 for DCM testing
2012-03-10 10:34:27 +11:00
79b8ddc236
DCM: added a small amount of accel smoothing to update_DCM_fast()
2012-03-10 10:34:27 +11:00
55413bfcc1
DCM: don't use the z accel sensor for drift correction
...
the z accel is the noisest, and seems to do more harm than good. Using
just x and y is sufficient for drift correction by assuming the vector
length
2012-03-10 10:34:27 +11:00
a78b00513b
DCM: added a small amount of gyro and accel smoothing
...
possibly not needed, but convenient to be able to test with different
values
2012-03-10 10:34:27 +11:00
82032b17a9
DCM: added reporting interfaces for DCM state
2012-03-10 10:34:27 +11:00
ae6a94a933
SITL: added sitl_simstate_send()
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used to report simulator state in logs
2012-03-10 10:34:27 +11:00
d106e3a970
MAVLink: import new message types DCM, HWSTATUS and SIMSTATE
2012-03-10 10:34:27 +11:00
4e354a9731
DCM: got rid of _error_roll_pitch from object state
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this can be a local error variable in common with the yaw code. This
saves 12 bytes in the object.
2012-03-10 10:34:27 +11:00
13e9608fb8
Consolidated Barometer pressure sensing to a single filter based on Randy's new filter class.
2012-03-08 23:13:04 -08:00
34cf1e8fb3
Updated on Barometer - increased the Temp filtering and decreased the pressure filtering to and get less temp noise, faster response from pressure. I'm filtering the Climb rate differently now, so this higher pressure noise should not hurt the derivative calcs at all now.
2012-03-06 20:55:35 -08:00
6c1299fe7e
AP_RC - removed unused library
2012-03-04 18:21:52 +09:00
dd9065123c
SITL: use the new noise model
...
use the new noise model at a low level for master until we sort out
DCM noise handling
2012-03-02 18:31:07 +11:00
63ea5dfb49
APM_RC: allow the fast RC speed to be passed as a parameter
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this will allow users to test different speeds
2012-03-02 17:57:08 +11:00
f1a389fe19
AP_Param: ensure we can't have duplicate keys in Parameters.h
...
this is O(n^2), but only at startup, and takes less than 1ms to run.
It catches a very nasty coding error
2012-03-02 15:48:28 +11:00
1476f044e6
I2C: added lockup_count() interface
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used for reporting I2C problems
2012-03-02 15:48:27 +11:00
c9031f1d36
SITL: implement cli()/sei() properly for desktop build
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this disables simulated hardware interrupts during critical sections
2012-03-02 15:48:27 +11:00
59e1d43f60
Updated fastPWM to 490Hz
2012-02-29 22:17:38 -08:00
8fa559930f
AP_Param: nested group recursion into next_group disableable by macro
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* c.f. 0251932c81fe7eb, e5515bb6ef82
2012-02-29 19:48:43 -08:00
8b3d013294
AP_Param: One more nexted group recursion disableable by macro
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* c.f. e5515bb6ef82
2012-02-29 18:48:54 -08:00
9832ac879e
AP_Compass - fixed compile warning
2012-02-29 22:57:35 +09:00
0311b70004
AP_Baro - fixed small compiler warning to do with order of parameters in constructor
2012-02-29 22:46:29 +09:00
64f9f1d92e
AP_Compass - fixed small compiler warning to do with order of parameters in constructor
2012-02-29 22:45:49 +09:00
7c1d1b45a7
AP_DCM - fixed small compiler warning to do with order of parameters in constructor
2012-02-29 22:45:26 +09:00
3cbd172ea9
RC_Channel - fixed small compiler warning
2012-02-29 22:44:29 +09:00
ced49f7d01
AP_ADC - removed small compiler warning
2012-02-29 22:43:46 +09:00
42078f2794
AP_Param: Make nested group recursion disableable by macro
...
* Eliminates recursive calls inside AP_Param.
This is important to Pat @ Galois, but not the project in general.
Recursion depth on these functions is bounded structurally using
existing nested group constructors (can't create loops in finite space)
and checked at init time
2012-02-28 16:28:27 -08:00
400a4b0bdb
AP_RangeFinder - changed example sketch to work with new Filter library
2012-02-28 21:02:10 +09:00
5b89c65d9c
Filter - updated example sketch to use modified library
2012-02-28 21:01:35 +09:00
d17a015df1
Filter - added AverageFilter, removed SumFilter
...
added FilterWithBuffer to allow removal of malloc/free without losing ability to pass around filter objects
2012-02-28 21:01:11 +09:00
078268528e
AP_Param: show numerical value in eeprom dump utility
2012-02-28 09:43:49 +11:00
701da6c30f
AP_Param: fixed v.load() on a sub-element of a AP_Vector3f
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this isn't actually used at the moment in APM, but we should get it
right in case someone does try to load a single element of a vector
2012-02-28 09:43:49 +11:00
34f1ebcfb4
SITL: simulate noise on each ADC channel separately
...
scale the noise based on the period of the motors
2012-02-28 09:43:49 +11:00
4cdc0a8c11
SITL: raise the ADC noise level to 8 bits when flying
...
this is about the level of noise of a aircraft that has a lot of
vibration
2012-02-28 09:43:49 +11:00
b32701e008
IMU: removed unused accel_filtered code
2012-02-28 09:43:49 +11:00
ac44b73951
AP_Param: fixed setting of CAM_P_G in ArduCopter
...
the variable CAM_P_G has the same prefix as the CAM_P group. We want
to allow for parameters having a common prefix with a group, so we
need to keep searching after we've found a group that matches the
prefix
2012-02-27 10:54:33 +11:00
7fe4a41c31
AP_Param: make the templating code a bit clearer
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add comments on the arguments, and name them in a clearer way
2012-02-27 10:54:33 +11:00
5bf138fb38
DCM: fixed the sense of the compass GPS test in initial yaw
...
we were only disabling null offsets when we didn't have a compass,
which doesn't make much sense!
2012-02-26 22:24:45 +11:00
747e045193
ModeFilter - corrected shadowed variable compiler warning for drop_high_sample
2012-02-26 17:57:28 +09:00
e01477a7a8
Filter - added AverageFilter - this will be used in place of SumFilter because it removes the possibility of overflows
2012-02-26 17:34:36 +09:00
b345529241
Filter - removed shadowing of variables in constructors for Filter, ModeFilter and SumFilter (sorry tridge!)
...
increased maximum sample buffer size from 6 to 10
2012-02-26 17:17:46 +09:00
3f0d27ec87
ModeFilter - remove older ModeFilter library (new library is now in Filter directory)
2012-02-26 15:36:23 +09:00
00a1b5cd53
AP_RangeFinder - cut over to use new ModeFilter from Filter library
2012-02-26 15:34:50 +09:00
ae8fd43335
Filter - first version of filter library include ModeFilter
2012-02-26 15:34:05 +09:00
f6f05755d9
AP_Mount - #include FastSerial first to allow it to compile under Arduino 1.0
2012-02-26 15:31:56 +09:00
bd2776aedd
Compass: use constructor to set initial values for _learn and _use_for_yaw
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this ensures they are set if you have MAG_ENABLE==0
2012-02-25 17:36:31 +11:00
56bb74ef36
DCM: disable compass null offsets when setting initial yaw
...
we need to ensure the compass null offsets code doesn't see a sudden
yaw change, or it will change the offsets by a large amount very
suddenly
2012-02-25 16:02:24 +11:00
f50f4357ca
Compass: catch the case of a user enabling a compass mid-flight
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if a compass has not been initialised at startup we can't enable it
mid-flight, as we don't have the orientation
2012-02-25 14:51:09 +11:00
3abe035557
DCM: use the new use_for_yaw() compass method
2012-02-25 14:51:09 +11:00
c3319afadd
Compass: added COMPASS_LEARN and COMPASS_USE parameters
...
these allow you to control if the compass should be used for yaw and
if it should learn its offsets. This is useful for locking in compass
offsets once they are confirmed to be good, and for learning offsets
without using them in flights.
The default is to behave the same as previously, which is
COMPASS_LEARN=1 and COMPASS_USE=1
2012-02-25 14:51:08 +11:00
051bd78b37
AP_Param: added some comments on AP_Vector3f handling
2012-02-25 11:37:20 +11:00
3cf0eebac8
DCM: don't reset _have_initial_yaw for GPS heading unless very slow
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wait till we reach 1m/s before we reset _have_initial_yaw. This
prevents us continually resetting the DCM matrix if our ground speed
is close to 3m/s.
2012-02-25 11:37:20 +11:00
007a6b8958
AP_Param: added special handling for Vector3f
...
We would like to be able to use Vector3f as a parameter while exposing
the individual elements of the vector as MAVLink parameters. This
change to AP_Param makes that possible, by giving AP_Vector3f a dual
personality
2012-02-25 11:37:20 +11:00
1d95137b71
SITL: added -C option to desktop mode
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this allows running APM to stdout, which is useful for test sketches
2012-02-25 11:37:20 +11:00
f221bd13ab
libs: removed unused library GPS_IMU
2012-02-25 11:37:20 +11:00
1a21c78062
libs: removed unusued library GCS_SIMPLE
2012-02-25 11:37:20 +11:00
c63ca9c697
DCM: tidy up use of error_course and in_motion
...
in_motion is not a good name now it is also used for the compass
The error_course and heading component values don't need to be part of
the DCM object, they can be on the stack to reduce the memory usage a bit
2012-02-25 11:37:20 +11:00
d5b619218c
DCM: use rotation_matrix_from_euler() to calculate initial yaw
...
When we first get a compass reading or we first start motion we need
to setup the DCM matrix with the right yaw. This uses
rotation_matrix_from_euler() to get a DCM matrix corresponding to our
current roll/pitch, but with the correct yaw
2012-02-25 11:37:20 +11:00
48cad8bc25
DCM: use rotation_matrix_from_euler() in matrix reset
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this makes the code a bit easier to read
2012-02-24 11:54:11 +11:00
5009679617
DCM: use calculate_euler_angles() to get eulers from DCM
...
this makes the code a bit easier to understand
2012-02-24 11:52:55 +11:00
df6013616e
AP_Math: added rotmat <-> euler functions
...
these will make the dcm matrix manipulation easier to understand
2012-02-24 11:52:55 +11:00
50f85835bd
Compass: ensure we don't produce NAN values for compass heading
...
this leaves the previous heading values alone if we are at a pitch of
exactly 90 or -90, at which point we can't compute a meaningful
heading
2012-02-24 11:52:55 +11:00
8190204287
AP_Math: added safe_sqrt() function
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this function will never return NAN. It will return zero for negative
numbers.
2012-02-24 11:52:55 +11:00
0acea11152
DCM: tidy up the nan checking in DCM
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use is_nan() on the matrix rather than just on c.x, and add
safe_asin() to the (unused) OUTPUTMODE==2 code.
2012-02-24 11:52:55 +11:00
b4c8d6491a
DCM: added matrix recovery on reset
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when we get a bad DCM error we can recover a matrix corresponding to
the current attitude, making it more likely that the aircraft will be
able to recover
2012-02-24 11:52:55 +11:00
1a32ececb4
AP_Math: added a safe_asin() function
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this adds range checking to asin()
2012-02-24 11:52:55 +11:00
7dd909a16b
AP_Math: added is_nan() methods to vector3f and matrix3f
2012-02-24 11:52:55 +11:00
2a4b7facaa
added set integrator
2012-02-23 09:38:08 -08:00
8707965c15
DCM: changed the sense of floating point range comparison
...
This allows us to detect NaN, otherwise NaN values were considered
'in range'
2012-02-23 11:41:26 +11:00
9caa4aeb44
DCM: range check the matrix before calculating pitch
...
The asin() in the pitch calculation can only take values between -1
and 1. This change ensures that the value is in range, and if it isn't
then we force a normalization. If that fails we reset the matrix
2012-02-23 08:16:08 +11:00
13693e1a04
DCM: reset more values on renorm blowup
...
when DCM blows up, we need to reset a lot more variables to ensure
that any NaN values don't persist
2012-02-23 08:16:08 +11:00
5cfe1ad5dc
DCM: remove the taylor expansion optimisation for renormalisation
...
The sqrt() costs about 44usec on a 2560, which is small enough for us
not to worry about the speed.
This also changes the range of values where we declare a blowup to
much less likely, which means we can cope with larger delta_t glitches
2012-02-23 08:16:08 +11:00
f30c721886
AP_Param: added ParamToken type for variable list traversal
2012-02-19 17:05:28 +11:00
669e8e34ea
added a limit to range output
2012-02-18 21:08:17 -08:00
0b369cf78b
Optflow - added reference to FastSerial to resolve compile error on Arduino 1.0.
...
also removed reference to DCM (no longer required) and removed some old code.
2012-02-18 18:09:40 +09:00
2472f0a2f3
SITL: increase the amount of noise in the simulated ADC
...
this increases the noise to 2 bits, which actually can have the effect
of improving accuracy, as it leads to better averaging
2012-02-18 19:27:15 +11:00
9602b1f91b
DCM: only add in centripetal accel if we have GPS lock
...
if we don't have a GPS or the GPS doesn't have a good lock then we
can't rely on the ground speed for adjusting the acceleration vector
2012-02-18 19:27:15 +11:00
371a91cfcf
IMU: move _sensor_cal to general IMU class
...
this makes it available both in shim and INS subclasses
2012-02-18 10:51:57 +11:00
2b8f0c3a48
AP_Param: moved AP_Vector3f and AP_Matrix3f declarations to AP_Math.h
...
this avoids us needing AP_Math.h in every utility sketch and example
2012-02-18 10:51:57 +11:00
70a135c47c
AP_Param: fixed copy-assignment operators for AP_Param vectors
2012-02-18 10:51:57 +11:00
e656928c01
AP_Param: added a set_and_save_ifchanged() method
...
this can be used to avoid the scan() in more frequenctly saved
variables, such as the MAVLink stream rates in APM
2012-02-18 10:51:57 +11:00
6f080742b8
AP_Param: added an initialised() method
...
this will be used by the compass code
2012-02-18 10:51:57 +11:00
5255512bf9
Found free extra 256 bytes of RAM eliminate _clz use from libgcc
...
Believe it or not, changing / 2^31 to >>31 saved 256 bytes in the "d" segment.
The reason is that GCC version prior to 4.3.5 does not have a count_leading_zeros (clz) assembler macro, so it uses a 256 byte lookup table called _clz
The _clz table gets pulled in if you do 64 bit division.
This tiny change is the only place that we do long long division.
Changing to a shift saves 256 bytes of ram.
2012-02-17 09:46:05 +00:00
560985b509
made I term return in same pattern as D term
2012-02-16 22:09:22 -08:00
Andrew Tridgell
Jason Short
rmackay9
Pat Hickey
Pat Hickey
justinbeech