Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-07 08:28:30 -04:00
Code Issues Packages Projects Releases Wiki Activity
3,675 Commits 71 Branches 510 Tags 770 MiB
982712d58f
Commit Graph

3675 Commits

This Branch
This Branch
All Branches
Author SHA1 Message Date
Andrew Tridgell
982712d58f Quaternion: code cleanups and added comments 2012-03-10 10:34:32 +11:00
Andrew Tridgell
f405477875 DCM: code cleanup and added more comments 2012-03-10 10:34:32 +11:00
Andrew Tridgell
9dc08b30cd Quaternion: bumb up gyro drift limit to match DCM 2012-03-10 10:34:32 +11:00
Andrew Tridgell
828ad7625b ACM: removed the ADC filtering code 2012-03-10 10:34:32 +11:00
Andrew Tridgell
f9394f8068 ADC: removed the ADC level accel smoothing 
the quaternion code does a better job of handling this noise than this
filter does
 2012-03-10 10:34:32 +11:00
Andrew Tridgell
8b40c44522 Quaternion: separate out drift correction from main updates 2012-03-10 10:34:32 +11:00
Andrew Tridgell
3e960f8ef9 InertionSensor: update for new Ch6() interface 2012-03-10 10:34:32 +11:00
Andrew Tridgell
919874f2a0 IMU: fixed a warning 2012-03-10 10:34:32 +11:00
Andrew Tridgell
4dff78b9c0 GPS: expose last_fix_time 2012-03-10 10:34:32 +11:00
Andrew Tridgell
6eff9107ea Compass: change last_update to be in microseconds 2012-03-10 10:34:32 +11:00
Andrew Tridgell
a0a360f955 ADC: use floats for ADC averaging 
this costs almost nothing and improved accel/gyro calibration
 2012-03-10 10:34:32 +11:00
Andrew Tridgell
13d5839778 APM: removed quaternion special cases 2012-03-10 10:34:32 +11:00
Andrew Tridgell
371677610d APM: avoid fetching the DCM matrix twice 
also no special case for quaternions
 2012-03-10 10:34:32 +11:00
Andrew Tridgell
1016d3c95d ACM: removed quaternion special cases in CLI code 2012-03-10 10:34:31 +11:00
Andrew Tridgell
8393c0299b ACM: removed the DCM tuning overrides 
not needed now that DCM scales with deltat
 2012-03-10 10:34:31 +11:00
Andrew Tridgell
7291dfc25a ACM: removed the special case for quaternions in GCS code 2012-03-10 10:34:31 +11:00
Andrew Tridgell
d6cfc51ae4 ACM: no need to fetch offsets at startup 
AP_Param handles this
 2012-03-10 10:34:31 +11:00
Andrew Tridgell
ef771fecdc ACM: removed a lot of the special case code for quaternions 2012-03-10 10:34:31 +11:00
Andrew Tridgell
69c29d35ce ACM: change DCM loop to 100Hz 
On my APM2 quad this seems to give better results
 2012-03-10 10:34:31 +11:00
Andrew Tridgell
045b49c4c4 DCM: removed update_DCM_fast 
this combines the functionality of the 'fast' DCM with the normal one,
and also speeds up both the yaw drift correction and the matrix update
code
 2012-03-10 10:34:31 +11:00
Andrew Tridgell
321200ebbc AP_IMU: fixed led flashing in gyro cal 
thanks Pat!
 2012-03-10 10:34:31 +11:00
Andrew Tridgell
a92fb67b70 AP_Math: expanded the math test suite 2012-03-10 10:34:31 +11:00
Andrew Tridgell
4d65cda0ea AP_Math: added quaternion->matrix and earth frame routines 
this will be used for 3d acceleration
 2012-03-10 10:34:31 +11:00
Andrew Tridgell
8abbbe5713 AP_Math: better way of handling safe_sqrt() 
better to test the result, than predict it
 2012-03-10 10:34:31 +11:00
Andrew Tridgell
ccada2e9c2 SITL: avoid parent pid code on cygwin 
this causes problems on windows
 2012-03-10 10:34:31 +11:00
Andrew Tridgell
3666476bcb SITL: prevent nested timer interrupts 2012-03-10 10:34:31 +11:00
Andrew Tridgell
3b7d78cf02 Quat: test patch for michael 2012-03-10 10:34:31 +11:00
Andrew Tridgell
f363f81869 Quaternion: added NaN paranoid checking 
this is for Michael to run
 2012-03-10 10:34:30 +11:00
Andrew Tridgell
2596acc8eb ACM: removed incorrect mode definition 2012-03-10 10:34:30 +11:00
Andrew Tridgell
1ec4c0777c Math: added comment on quaternion constructor 2012-03-10 10:34:30 +11:00
Andrew Tridgell
f5e6dc0757 Math: added is_inf() on vector3f 2012-03-10 10:34:30 +11:00
Andrew Tridgell
066a513758 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
c7d5f06b21 AP_Math: added quaternion helper functions and a test suite 2012-03-10 10:34:30 +11:00
Andrew Tridgell
f70dfe440d 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
47ddd4dfdd SITL: disable interrupts during register updates 
this may prevent bogus mode channel reads
 2012-03-10 10:34:30 +11:00
Andrew Tridgell
7256652de5 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
c7ef72cf28 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
6d356b6c6e Compass: fixed last_update time for HIL compass 2012-03-10 10:34:30 +11:00
Andrew Tridgell
ebc55bb494 RC: disable interrupts when reading the RC registers 
this prevents getting bogus values which could cause a flight mode
change
 2012-03-10 10:34:30 +11:00
Andrew Tridgell
57f67ca6e3 GPS: added an acceleration estimate to the GPS driver 
This uses the GPS ground speed to estimate acceleration
 2012-03-10 10:34:30 +11:00
Andrew Tridgell
7fbfcc2721 GPS: fixed some stdint types 2012-03-10 10:34:29 +11:00
Andrew Tridgell
e699e9ace0 Quaternion: added in reporting of gyro drift and rp/yaw errors 2012-03-10 10:34:29 +11:00
Andrew Tridgell
7a9b3d3388 Quaternion: show "Quaternion test" on startup if enabled 2012-03-10 10:34:29 +11:00
Andrew Tridgell
2a8b167d95 fixed comment 2012-03-10 10:34:29 +11:00
Andrew Tridgell
c73c55aa90 DCM: fixed an uninitialised variable warning 2012-03-10 10:34:29 +11:00
Andrew Tridgell
d8234882d4 Quaternion: tweak the quaternion gains a bit 2012-03-10 10:34:29 +11:00
Andrew Tridgell
cc887949c9 AP_IMU: improved the gyro calibration code 
this should give a much more accurate result
 2012-03-10 10:34:29 +11:00
Andrew Tridgell
ffa6786697 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
Andrew Tridgell
bee4bd9474 DCM: fixed bug in accel averaging 
sorry Randy!
 2012-03-10 10:34:29 +11:00
Andrew Tridgell
25e5ddeaa4 AP_Quaternion: fixed build on Arduino 1.0 2012-03-10 10:34:29 +11:00