Andrew Tridgell
801a442ffb
Quaternion: minor tuning
2012-03-10 10:34:33 +11:00
Andrew Tridgell
3344869285
DCM: minor tuning based on testing my quad
2012-03-10 10:34:33 +11:00
Andrew Tridgell
dffb435aac
SITL: make the yaw match the APM conventions
2012-03-10 10:34:33 +11:00
Andrew Tridgell
2673614f6d
SITL: fixed the pwm output on startup
2012-03-10 10:34:33 +11:00
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
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
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
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
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
Andrew Tridgell
c369d9f60a
AP_Quaternion: added DCM compatibility interfaces
...
useful for getting the code going quickly
2012-03-10 10:34:29 +11:00
Andrew Tridgell
6138f31cec
AP_IMU: added new_data_available() interface
2012-03-10 10:34:29 +11:00
Andrew Tridgell
a9dea35310
AP_InertialSensor: added new_data_available() interface
2012-03-10 10:34:28 +11:00
Andrew Tridgell
c80ec9a55c
AP_ADC: added new_data_available() interface
...
returns true if more samples are available
2012-03-10 10:34:28 +11:00
Andrew Tridgell
c8a459ab0d
fixed deltat in quaternion
2012-03-10 10:34:28 +11:00
Andrew Tridgell
a791224d07
SITL: make SITL not depend on DCM
2012-03-10 10:34:28 +11:00
Andrew Tridgell
74eef7018a
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