Andrew Tridgell
51080d3e9e
AHRS: update example for new ins interface
2012-11-30 07:15:19 +11:00
Andrew Tridgell
1dad9e4e94
AHRS: improved some more doc strings
2012-11-27 15:56:53 +11:00
Andrew Tridgell
eb1d5c2c68
AHRS: improved docs for AHRS_GPS_USE
...
some people are setting this to zero to prevent jitter, which results
in their plane flying off into the distance and never coming back
2012-11-27 15:41:52 +11:00
Andrew Tridgell
5a214acca3
AHRS: changed the docs for AHRS_YAW_P and AHRS_RP_P
...
a user had set AHRS_YAW_P to zero. Make it clear that zero is not a
good value. MichaelO will change MP to give a warning for a value
below 0.1
2012-11-19 22:50:05 +11:00
Andrew Tridgell
8561f08b2f
AP_AHRS: prevent a large delta_t from affecting DCM solution
...
this should fix large changes in attitude directly after arming
ArduCopter
2012-11-13 15:33:10 +11:00
rmackay9
56f88821e9
AP_AHRS: fix example sketch
...
AP_Airspeed: fix example sketch
AP_Baro: fix example sketch
AP_Declination: fix example sketch
AP_Math: fix example sketch
2012-11-08 00:08:18 +09:00
rmackay9
83ae8e47be
AP_AHRS: replace IMU with INS and add roll and pitch trim
2012-11-07 19:20:32 +09:00
Andrew Tridgell
fe47990dab
AP_AHRS: removed the 6 sats min
...
this would put us into dead-reckoning mode
2012-11-06 14:26:49 +11:00
Andrew Tridgell
6a24bdec05
AP_AHRS: require at least 6 satellites to use the GPS for velocity
...
logs of a recent flight show the velocity estimate can be very poor if
the GPS can see 5 satellites or less
2012-11-05 20:07:37 +11:00
Andrew Tridgell
ea40432235
AP_AHRS: use GPS vertical velocity when available
2012-11-05 14:58:40 +11:00
rmackay9
9e3824a09b
AP_AHRS: fix compile error in example sketch
2012-11-01 21:56:34 +09:00
Andrew Tridgell
00bf548f87
AHRS: limit wind speed estimate changes
...
sudden yaw changes can cause bad wind estimates
2012-10-11 11:51:24 +11:00
rmackay9
e33d314f1d
AP_AHRS_MPU6000: resolve compiler warning re shadowing
2012-10-06 13:22:43 +09:00
rmackay9
670fcbb634
AP_AHRS_MPU6000: fixed yaw correction and added _secondary_ahrs parameter
...
_secondary_ahrs parameter allows mpu6000 ahrs to runin parallel with DCM.
2012-09-30 00:21:18 +09:00
rmackay9
8c6fd340d7
AP_AHRS: added scheduler parameter to init
...
Required by the AP_AHRS_MPU6000 class which needs to disable timed processes that could interfere with it's communication with the mpu6000
2012-09-29 13:51:21 +09:00
rmackay9
41fbb19cf5
AP_InertialSensor_MPU6000: replaced _cs_pin parameter with #define and saved 1 byte of memory
...
Updated ArduCopter, ArduPlane and example sketches in AP_InertialSensor, AP_IMU and AP_AHRS libraries because they no longer need to pass in cs_pin to the constructor
2012-09-28 19:21:59 +09:00
Andrew Tridgell
ccf8ba3ce9
DCM: limit the contribution of the baro to vertical acceleration
...
limit to a max of 0.5g
2012-09-20 17:34:32 +10:00
Andrew Tridgell
458a42654b
DCM: disable use of baro for vertical accel by default
...
this has caused problems with too many users
2012-09-20 17:34:32 +10:00
Michael Oborne
94f956a0ca
fix AP attitude hil - with randys help
2012-09-15 16:47:18 +08:00
rmackay9
1c9fe3b1b6
AP_AHRS: fix to allow example sketch to compile
2012-09-13 16:45:52 +09:00
Andrew Tridgell
fba1692d69
AHRS: added AHRS_BARO_USE parameter
...
allow disabling of the use of the barometer for vertical acceleration
compensation
2012-09-12 14:42:04 +10:00
Andrew Tridgell
de28cc8b28
AHRS: added AHRS_WIND_MAX option
...
this allows APM to cope better with airspeed sensor failure, but
ensuring airspeed stays within AHRS_WIND_MAX of ground speed
2012-09-08 11:37:07 +10:00
Andrew Tridgell
2be785899b
AHRS: added airspeed_estimate() function
...
this allows the APM code to use an airspeed estimate for navigation
2012-08-25 17:49:26 +10:00
Andrew Tridgell
8b53f1272a
AHRS: new functions to support APM_Control library
2012-08-22 12:42:37 +10:00
uncrustify
e17fcbd9cb
uncrustify libraries/AP_AHRS/AP_AHRS_HIL.h
2012-08-21 19:19:51 -07:00
uncrustify
af588679b9
uncrustify libraries/AP_AHRS/AP_AHRS.h
2012-08-21 19:19:51 -07:00
uncrustify
8c0e4f3987
uncrustify libraries/AP_AHRS/AP_AHRS_MPU6000.h
2012-08-21 19:19:51 -07:00
uncrustify
bc80148c75
uncrustify libraries/AP_AHRS/AP_AHRS_DCM.h
2012-08-21 19:19:51 -07:00
uncrustify
31a4442904
uncrustify libraries/AP_AHRS/AP_AHRS_DCM.cpp
2012-08-21 19:19:51 -07:00
uncrustify
d6d7606c84
uncrustify libraries/AP_AHRS/AP_AHRS_HIL.cpp
2012-08-21 18:59:34 -07:00
uncrustify
9e4e08699d
uncrustify libraries/AP_AHRS/AP_AHRS_MPU6000.cpp
2012-08-21 18:59:34 -07:00
uncrustify
6327305116
uncrustify libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.pde
2012-08-21 18:59:13 -07:00
Andrew Tridgell
6d28b3519f
AHRS: removed AP_AHRS_Quaternion
...
this AHRS backend is causing compiler errors with the Arduino build
environment on windows. The quaternion AHRS backend is currently not
being developed/supported anyway. We can resurrect it if someone wants
to start developing it again.
2012-08-22 10:41:31 +10:00
Andrew Tridgell
2985de279f
AHRS: fixed duplicate gps_use variable in DCM
2012-08-21 20:17:03 +10:00
Andrew Tridgell
134cd51d17
AHRS: moved var_info[] into top level AP_AHRS class
2012-08-21 15:58:09 +10:00
Andrew Tridgell
ac72db8f00
AHRS: added set_fast_gains() method
...
this will be used by arducopter on the ground
2012-08-21 15:38:06 +10:00
Andrew Tridgell
14cdbd36cb
AHRS: check for bad values in the error before they can affect DCM
...
this should fix the DCM renorm errors in autotest, probably caused by
bad climb rates
2012-08-18 13:54:11 +10:00
Andrew Tridgell
d9cc967508
AHRS: force an extra read of the compass on startup
...
the first read from the compass can be bad. This ensures we have a
good value when getting the initial AHRS yaw.
Thanks to Randy and Jason for the bug report!
2012-08-17 17:57:39 +10:00
Andrew Tridgell
73dcbc24c3
Quaternion: we no longer support acceleration in the GPS driver
...
remove the linear acceleration compensation code
2012-08-15 20:07:53 +10:00
Andrew Tridgell
9b4b7997b6
AHRS: added ahrs.yaw_initialised()
...
this allows the high level code to know if the AHRS driver has a
reliable yaw estimate
2012-08-15 12:39:34 +10:00
Andrew Tridgell
48e275e22d
AHRS: avoid a compiler bug in quaternion code
...
Having _wind in the AP_AHRS class causes a register allocation error
when building the Quaternion code with some versions of avr-gcc. Quite
bizarre.
2012-08-13 11:08:10 +10:00
Andrew Tridgell
19a5d11669
AHRS: use airspeed for wind in forward flight
...
when not turning we can use the airspeed sensor directly to calculate
the wind speed.
2012-08-12 10:54:25 +10:00
Andrew Tridgell
f5b7ae213c
AHRS: added AHRS_GPS_USE parameter
...
this allows for the GPS to be disables for position updates, which
allows for testing dead-reckoning
2012-08-11 22:06:03 +10:00
Andrew Tridgell
779dacfd24
AHRS: added wind estimation code
...
this allows us to estimate the wind while we have GPS lock, then use
that estimate in the long term dead reckoning
2012-08-11 22:06:03 +10:00
Andrew Tridgell
af4071894e
AHRS: added long-term dead-reckoning
...
this uses airspeed (if available) or last GPS ground speed to update
our position estimate in AHRS
2012-08-11 12:00:31 +10:00
Andrew Tridgell
f95b06a880
AHRS: make airspeed sensor available to AHRS
...
this will be used for long term dead-reckoning
2012-08-11 08:57:32 +10:00
Andrew Tridgell
b01907cf23
ACM: fixed HIL build
2012-08-11 08:34:16 +10:00
Jason Short
52b2aacf28
AHRS DCM: FOrmatting
2012-08-09 16:59:43 -07:00
Andrew Tridgell
898a5af692
AP_Param: update AHRS for new constructor syntax
2012-08-08 12:11:57 +10:00
rmackay9
0eaf427062
AP_AHRS_MPU6000: cleaning up compiler warning due to unused yaw_deltat variable
2012-07-28 16:23:25 +09:00