Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity
9,830 Commits 71 Branches 509 Tags 772 MiB
Commit Graph

186 Commits

Author SHA1 Message Date
Andrew Tridgell 4f871c87f1 AP_AHRS: detect and try to cope with bad accels 2013-11-07 13:54:16 +11:00
Andrew Tridgell 56bcda7252 AP_AHRS: lower default roll and yaw drift correction speed 
the gyros sustain accuracy over much longer time periods than
previously expected
 2013-11-05 14:52:39 +11:00
Andrew Tridgell 02d6f012ce AP_AHRS: added accel sum delay buffer to account for GPS lag 2013-11-04 21:21:42 +11:00
Andrew Tridgell d31e557983 AP_AHRS: save memory and reduce pointer references 
use a refence for ins, and don't save gyro and accel between updates
 2013-11-04 21:21:37 +11:00
Andrew Tridgell cb52b6f367 AP_AHRS: removed limit on normalisation of accel reference vectors 
this could lead to a bias in the accel drift correction
 2013-11-04 21:20:41 +11:00
Andrew Tridgell 31eaaada62 AP_AHRS: removed vertical G limit on GPS velocity correction 
this limit could lead to a bias in the accel drift correction, and is
frequenctly exceeded
 2013-11-04 21:20:41 +11:00
Andrew Tridgell a7931b1581 AP_AHRS: fixed wrapping bug in GPS based heading error 
this bug could cause the GPS based yaw to use an expensive reset far
too often
 2013-11-04 21:20:41 +11:00
Andrew Tridgell 17b27a47de AP_AHRS: prevent GPS yaw resets on compass errors 
when we switch from compass heading to GPS heading we don't want to
trigger a sudden GPS yaw reset
 2013-11-04 21:20:41 +11:00
Andrew Tridgell d305dd5946 AP_AHRS: debounce the GPS/compass consistency test 
we will only consider the compass inconsistent with GPS if it is off
for more than 2 seconds
 2013-10-23 09:40:42 +11:00
Andrew Tridgell 8ee848a788 AP_AHRS: update for Stub -> HIL 2013-09-28 22:04:15 +10:00
Randy Mackay 8306d74da0 AHRS: remove DMP as an ahrs 2013-09-27 10:42:46 +09:00
Andrew Tridgell e1aa6e3ff1 libraries: fixed examples for no flash_leds() callback 2013-09-19 18:38:28 +10:00
Andrew Tridgell 15a4582ed7 AP_AHRS: changed to AP_Vehicle.h 2013-09-13 11:46:10 +10:00
Andrew Tridgell c044385fff AP_AHRS: added groundspeed() method 
this gives ground speed in m/s from GPS
 2013-09-09 18:04:41 +10:00
Andrew Tridgell c56017d8f1 AP_AHRS: added in new orientations 2013-08-30 14:19:17 +10:00
Andrew Tridgell 97b7130bb9 libraries: update license header to GPLv3 
we switched to GPLv3 a long time ago, but neglected to update the
per-file license headers
 2013-08-30 13:01:39 +10:00
Andrew Tridgell 6182571c21 AP_AHRS: fixed example build 2013-08-30 13:01:36 +10:00
Andrew Tridgell 587fb58720 AP_AHRS: fixed license text 
APM is under GPL, not LGPL
 2013-08-30 13:01:32 +10:00
Andrew Tridgell 57d2dd814d AP_AHRS: added get_position_lag() call 
provide position lag to libraries
 2013-08-13 12:07:35 +10:00
Andrew Tridgell 0d36832b82 AP_AHRS: use const reference not pointers for locations 
this makes life easier for the new AP_Mission library

Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
 2013-08-05 10:24:12 +10:00
Andrew Tridgell ec73fadc45 AP_AHRS: added true airspeed support in AHRS 
use true airspeed for wind calculations, and allow other drivers to
ask for the current ratio
 2013-07-22 12:50:01 +10:00
Randy Mackay 0325ad5d0d AP_AHRS: use rotateXY for speed 
Saves 0.1ms at 100hz
 2013-07-20 18:00:36 +09:00
Andrew Tridgell 1bd6849d00 AP_AHRS: fixed example build 2013-07-15 14:10:17 +10:00
Andrew Tridgell b721bcc129 AP_AHRS: removed get_roll_rate_earth() and get_pitch_rate_earth() 
these are not used any more
 2013-07-13 21:45:58 +10:00
Andrew Tridgell 086e8f80dc AP_AHRS: fixed spin rate gain conversion from degrees to radians 
fixes issue #433

Thanks Jurgen!
 2013-07-13 12:36:25 +10:00
Randy Mackay 7860d06b91 AHRS: typo fix for ORIENTATION param description 2013-07-10 14:56:48 +09:00
Andrew Tridgell 279f6d00f0 AP_AHRS: changes for GPS field changes 2013-07-10 14:04:22 +10:00
tobias 1bf135b36f AP_AHRS: make some more functions const 2013-07-08 12:07:50 +10:00
Randy Mackay ded31582de AP_AHRS: add Roll90Yaw90 to parameter description 
Thanks to Rainer Walther for spotting this
 2013-07-07 13:06:40 -10:00
Andrew Tridgell 80e0f8044c AP_AHRS: added airspeed_sensor_enabled() function 2013-07-04 16:56:57 +10:00
Andrew Tridgell 7d42a0562d AP_AHRS: cope better with large GPS yaw changes 
this should cope better with bungee launches when using only GPS for
yaw.
 2013-06-25 12:44:26 +10:00
Andrew Tridgell aaaa5247e3 AP_AHRS: make it possible to setup board orientation at runtime 2013-06-03 16:52:28 +10:00
Andrew Tridgell e75253d019 AP_AHRS: fixed indent-tabs-mode 2013-05-30 09:54:53 +10:00
Andrew Tridgell 14628990e6 AP_AHRS: make wind estimation configurable 
rover doesn't want it
 2013-05-24 11:21:42 +10:00
Randy Mackay b27ddf0f63 AP_AHRS: add parameter descriptions 2013-05-21 15:39:03 +09:00
Andrew Tridgell c08c084191 AP_AHRS: added get_projected_position() 
this is used to project the position forward by the GPS lag
 2013-05-17 08:32:21 +10:00
Andrew Tridgell a17b85c661 AP_AHRS: use vectors for ground vector complimentary filter 2013-05-13 11:27:55 +10:00
Andrew Tridgell 6f1cee6406 AP_AHRS: fixed position estimate with 2D fix or low satellite count 
we should still use the GPS for position fixes when we have a low
number of satellites, but we should stop using it for velocity
estimates and attitude correction.
 2013-05-07 10:52:14 +10:00
Randy Mackay ceda7d26b0 AHRS: add correct_centrifugal and flags structure 2013-05-06 15:32:06 +09:00
Andrew Tridgell 38fc0e61c6 AP_AHRS: optimise yaw drift correction 
use new vector2 cross product, and factor out the z component of a dcm
mul_transpose() to reduce the number of floating point operations for
a yaw drift correction cycle
 2013-05-05 13:51:45 +10:00
Randy Mackay ee2daf25b6 AHRS: perf improvement by caching declination vector 2013-05-05 12:58:43 +10:00
Andrew Tridgell 943a1d8c8d AP_AHRS: added AHRS_GPS_MINSATS option 
if the number of visible satellites is below AHRS_GPS_MINSATS then
don't use the GPS for acceleration correction for attitude
 2013-05-05 12:48:01 +10:00
Andrew Tridgell 811c2ccc11 libraries: fixes for AP_Baro_HIL 2013-05-02 15:09:05 +10:00
Andrew Tridgell 54b826a583 AP_AHRS: update for new compass API 2013-05-02 12:48:14 +10:00
Andrew Tridgell ba83950fc4 libraries: replace constrain() with constrain_float() 
this makes the type much more obvious. Thanks to Tobias for the
suggestion.
 2013-05-02 10:25:40 +10:00
Andrew Tridgell f5d6fb6216 AP_AHRS: added _kp gain reduction for catapult launch 
this should reduce the tendency of aircraft to nose down hard on
initial launch at high g
 2013-04-28 14:47:59 +10:00
Andrew Tridgell fd2cd0d1c2 DCM: fixed formatting 2013-04-23 08:57:44 +10:00
jschall 610069e729 DCM: fixed airspeed bug 
we incorrectly went via the wind estimate when we had a working airspeed sensor
 2013-04-23 08:57:44 +10:00
Andrew Tridgell 014c9376e7 AP_AHRS: use const references where possible 2013-04-22 13:26:49 +10:00
Andrew Tridgell 7ad293e270 AP_AHRS: made a few methods const 2013-04-20 13:52:36 +10:00