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1419 Commits

Author SHA1 Message Date
Andrew Tridgell
289c64c0b9 Math: added vector3.rotate() and matrix3.rotation() methods 
these operate on a "enum Rotation" which defines a set of standard
rotations. These are much faster than our previous method, plus use
less memory
 2012-03-11 15:37:07 +11:00
Andrew Tridgell
ba8e764349 SITL: lower the noise and drift levels for general autotest usage 2012-03-10 10:34:34 +11:00
Andrew Tridgell
b02ca58901 InertialSensor: fixed HIL build 2012-03-10 10:34:34 +11:00
Andrew Tridgell
44ebb20329 MAVLink: bring the v1.0 MAVLink in sync with 0.9 2012-03-10 10:34:34 +11:00
Andrew Tridgell
87c463bcc7 DCM: after some experimentation, raise the ki values a bit 
this tracks the max gyro drift more accurately
 2012-03-10 10:34:34 +11:00
Andrew Tridgell
eff6778515 Quaternion: use gyro drift value from sensor driver 2012-03-10 10:34:34 +11:00
Andrew Tridgell
3989fe2c2c Quaternion: go back to the full update_MARG() 
the separate drift controller is too erratic on yaw hold to be usable
at the moment
 2012-03-10 10:34:34 +11:00
Andrew Tridgell
c8189c80d4 SITL: cleanup the gyro drift calculations 
use units that are more easily understood
 2012-03-10 10:34:34 +11:00
Andrew Tridgell
b833190abb Quaternion: make the quaternion test more generic 
works with DCM too
 2012-03-10 10:34:33 +11:00
Andrew Tridgell
2f9af05cfa Quaternion: update to get_gyro_drift() interface 2012-03-10 10:34:33 +11:00
Andrew Tridgell
bf16b2926c Quaternion: removed some unused variables 2012-03-10 10:34:33 +11:00
Andrew Tridgell
3b2609c441 DCM: separate out the omega_yaw_P from omega_P 
this cleans up the separation of drift rates and proportional
correction from yaw source and accelerometers, allow the yaw
to run at a different rate to the accel correction
 2012-03-10 10:34:33 +11:00
Andrew Tridgell
bcb7196680 IMU: added get_gyro_drift_rate() interface 
this just calls down to the InertialSensor layer
 2012-03-10 10:34:33 +11:00
Andrew Tridgell
9296ac494d AP_InertialSensor: added a get_gyro_drift_rate() interface 
this returns the expected max drift rate for the particular type of
gyro being used
 2012-03-10 10:34:33 +11:00
Andrew Tridgell
882fa1818b DCM: removed the limit on linear acceleration 
we get linear accelerations of more than 1g when turning corners
 2012-03-10 10:34:33 +11:00
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
Andrew Tridgell
fd2a24f8ed SITL: reduce the simulated compass offsets 
this was causing us problems in getting DCM right
 2012-03-10 10:34:28 +11:00
Andrew Tridgell
bddc6ba241 SITL: separate out drift speed and drift level 2012-03-10 10:34:28 +11:00
Andrew Tridgell
25cad09746 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
Andrew Tridgell
b11b571778 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
Andrew Tridgell
145fc91701 AP_Math: added a .zero() method to Vector3f 2012-03-10 10:34:28 +11:00
Andrew Tridgell
ae51173656 SITL: fixed delay() to account for signal interrupions 
when a timer went off we stopped the delay() code
 2012-03-10 10:34:28 +11:00
Andrew Tridgell
fe173227de DCM_Test: fixed example code to work with SITL 
this also fixes the compass setup
 2012-03-10 10:34:27 +11:00
Andrew Tridgell
8424609924 SITL: push noise level to 2.0 for DCM testing 2012-03-10 10:34:27 +11:00
Andrew Tridgell
6ba6e11e7b DCM: added a small amount of accel smoothing to update_DCM_fast() 2012-03-10 10:34:27 +11:00
Andrew Tridgell
3b1782f369 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
Andrew Tridgell
4031320f7c 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
Andrew Tridgell
94d0236b97 DCM: added reporting interfaces for DCM state 2012-03-10 10:34:27 +11:00
Andrew Tridgell
772c30ba86 SITL: added sitl_simstate_send() 
used to report simulator state in logs
 2012-03-10 10:34:27 +11:00
Andrew Tridgell
9df332f0ae MAVLink: import new message types DCM, HWSTATUS and SIMSTATE 2012-03-10 10:34:27 +11:00
Andrew Tridgell
cc8278c1ac DCM: got rid of _error_roll_pitch from object state 
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
Jason Short
486c56ce41 Consolidated Barometer pressure sensing to a single filter based on Randy's new filter class. 2012-03-08 23:13:04 -08:00
Jason Short
e57b91c2e2 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
rmackay9
6c3cf9ad5b AP_RC - removed unused library 2012-03-04 18:21:52 +09:00
Andrew Tridgell
73dafe537e 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
Andrew Tridgell
5f749325f0 APM_RC: allow the fast RC speed to be passed as a parameter 
this will allow users to test different speeds
 2012-03-02 17:57:08 +11:00
Andrew Tridgell
f4329d2680 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
Andrew Tridgell
1e8d98cdda I2C: added lockup_count() interface 
used for reporting I2C problems
 2012-03-02 15:48:27 +11:00
Andrew Tridgell
37275d229d SITL: implement cli()/sei() properly for desktop build 
this disables simulated hardware interrupts during critical sections
 2012-03-02 15:48:27 +11:00
Jason Short
41b435a487 Updated fastPWM to 490Hz 2012-02-29 22:17:38 -08:00
Pat Hickey
337af0c7a2 AP_Param: nested group recursion into next_group disableable by macro 
* c.f. 0251932c81fe7eb, e5515bb6ef82
 2012-02-29 19:48:43 -08:00
Pat Hickey
2648694489 AP_Param: One more nexted group recursion disableable by macro 
* c.f. e5515bb6ef82
 2012-02-29 18:48:54 -08:00
rmackay9
fa34ac076e AP_Compass - fixed compile warning 2012-02-29 22:57:35 +09:00
rmackay9
d81c951849 AP_Baro - fixed small compiler warning to do with order of parameters in constructor 2012-02-29 22:46:29 +09:00
rmackay9
c819a0f68a AP_Compass - fixed small compiler warning to do with order of parameters in constructor 2012-02-29 22:45:49 +09:00
rmackay9
5026b5c192 AP_DCM - fixed small compiler warning to do with order of parameters in constructor 2012-02-29 22:45:26 +09:00
rmackay9
82f81295a7 RC_Channel - fixed small compiler warning 2012-02-29 22:44:29 +09:00
rmackay9
c444cdb3f4 AP_ADC - removed small compiler warning 2012-02-29 22:43:46 +09:00
Pat Hickey
eac8b66385 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
rmackay9
2b6a10d18b AP_RangeFinder - changed example sketch to work with new Filter library 2012-02-28 21:02:10 +09:00
rmackay9
033347f8ee Filter - updated example sketch to use modified library 2012-02-28 21:01:35 +09:00