e282554035
AHRS: removed some debug code
2012-12-20 14:53:23 +11:00
ceb3f577d8
libraries: use new math functions
2012-12-20 14:53:22 +11:00
eb530b86e8
move Arduino.mk to /mk/Arduino.mk
2012-12-20 14:52:35 +11:00
fc66f5594f
AHRS: allow AHRS test to build with SITL
2012-12-20 14:52:34 +11:00
7d27e420ae
AP_HAL: remove unnecessary Arduino.h includes
2012-12-20 14:52:30 +11:00
5c148153ac
AP_AHRS: updates for new AP_Param API
2012-12-20 14:51:38 +11:00
475da4eca4
CONFIG_HAL_BOARD - test sketches fixed up, build all passes
2012-12-20 14:51:37 +11:00
8b6ad6d559
SITL: removed SITL_debug()
...
not needed any more
2012-12-20 14:51:36 +11:00
5840ded767
AHRS: removed constrain() defines
2012-12-20 14:51:34 +11:00
09e7b0b592
AHRS: removed unused variable
2012-12-20 14:51:34 +11:00
70f34656bc
AP_AHRS: uart1 -> uartB fixup
2012-12-20 14:51:34 +11:00
9bf69d4e0d
AP_AHRS: port to AP_HAL
2012-12-20 14:51:29 +11:00
3f1d9d7f69
AP_Param: #include <AP_Param.h> fixups for libraries & sketches
...
* I mostly went through with grep and added an #include <AP_Param.h> below
every #include <AP_Common.h>. Not all of these example sketches might
strictly need AP_Param.
2012-12-20 14:51:19 +11:00
24317e721b
AC_PID, AP_AHRS: added descriptions to some parameters
2012-12-10 22:28:39 +09:00
51080d3e9e
AHRS: update example for new ins interface
2012-11-30 07:15:19 +11:00
1dad9e4e94
AHRS: improved some more doc strings
2012-11-27 15:56:53 +11:00
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
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
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
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
83ae8e47be
AP_AHRS: replace IMU with INS and add roll and pitch trim
2012-11-07 19:20:32 +09:00
fe47990dab
AP_AHRS: removed the 6 sats min
...
this would put us into dead-reckoning mode
2012-11-06 14:26:49 +11:00
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
ea40432235
AP_AHRS: use GPS vertical velocity when available
2012-11-05 14:58:40 +11:00
9e3824a09b
AP_AHRS: fix compile error in example sketch
2012-11-01 21:56:34 +09:00
00bf548f87
AHRS: limit wind speed estimate changes
...
sudden yaw changes can cause bad wind estimates
2012-10-11 11:51:24 +11:00
e33d314f1d
AP_AHRS_MPU6000: resolve compiler warning re shadowing
2012-10-06 13:22:43 +09:00
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
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
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
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
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
94f956a0ca
fix AP attitude hil - with randys help
2012-09-15 16:47:18 +08:00
1c9fe3b1b6
AP_AHRS: fix to allow example sketch to compile
2012-09-13 16:45:52 +09:00
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
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
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
8b53f1272a
AHRS: new functions to support APM_Control library
2012-08-22 12:42:37 +10:00
e17fcbd9cb
uncrustify libraries/AP_AHRS/AP_AHRS_HIL.h
2012-08-21 19:19:51 -07:00
af588679b9
uncrustify libraries/AP_AHRS/AP_AHRS.h
2012-08-21 19:19:51 -07:00
8c0e4f3987
uncrustify libraries/AP_AHRS/AP_AHRS_MPU6000.h
2012-08-21 19:19:51 -07:00
bc80148c75
uncrustify libraries/AP_AHRS/AP_AHRS_DCM.h
2012-08-21 19:19:51 -07:00
31a4442904
uncrustify libraries/AP_AHRS/AP_AHRS_DCM.cpp
2012-08-21 19:19:51 -07:00
d6d7606c84
uncrustify libraries/AP_AHRS/AP_AHRS_HIL.cpp
2012-08-21 18:59:34 -07:00
9e4e08699d
uncrustify libraries/AP_AHRS/AP_AHRS_MPU6000.cpp
2012-08-21 18:59:34 -07:00
6327305116
uncrustify libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.pde
2012-08-21 18:59:13 -07:00
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
2985de279f
AHRS: fixed duplicate gps_use variable in DCM
2012-08-21 20:17:03 +10:00
134cd51d17
AHRS: moved var_info[] into top level AP_AHRS class
2012-08-21 15:58:09 +10:00
ac72db8f00
AHRS: added set_fast_gains() method
...
this will be used by arducopter on the ground
2012-08-21 15:38:06 +10:00
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
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
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
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
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
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
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
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
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
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
b01907cf23
ACM: fixed HIL build
2012-08-11 08:34:16 +10:00
52b2aacf28
AHRS DCM: FOrmatting
2012-08-09 16:59:43 -07:00
898a5af692
AP_Param: update AHRS for new constructor syntax
2012-08-08 12:11:57 +10:00
0eaf427062
AP_AHRS_MPU6000: cleaning up compiler warning due to unused yaw_deltat variable
2012-07-28 16:23:25 +09:00
1b521a9f73
AP_AHRS: updated test sketch to allow use of MPU6000's DMP
2012-07-28 14:27:26 +09:00
dbe7c8ed1a
AP_AHRS_MPU6000: first draft implementation of class that uses MPU6000's DMP to calculate attitude
2012-07-28 14:17:38 +09:00
b844bb7919
AP_AHRS: removed var_info from AP_AHRS class (moved to AP_AHRS_DCM)
2012-07-28 14:16:56 +09:00
468170b589
AP_AHRS_DCM: moved var_info to belong to AP_AHRS_DCM instead of AP_AHRS
2012-07-28 14:16:15 +09:00
9cd98e79dd
AHRS: normalise GA_b before computing error vector only if too large
...
When GA_b is small the direction of the vector is unreliable, so
normalising can exacerbate the error in the direction
2012-07-23 17:16:50 +10:00
5f5ab9c07c
AHRS: if we don't have gps correction enabled, zero the yaw correction
2012-07-20 17:21:04 +10:00
c937738732
AHRS: allow the gps/accelerometers to control yaw when rolled
...
this solves a problem with yaw estimation when at high roll angles,
when the compass code becomes ineffective
2012-07-20 11:50:04 +10:00
a469682b7b
fix param config names
2012-07-14 15:34:15 +08:00
165604a55c
AHRS: fixed HIL build
2012-07-10 18:02:05 +10:00
0f9fb2c64b
AHRS: added AHRS_GPS_GAIN parameter
...
this allows control of how much GPS velocity information is used in
doing centripetal correction in DCM
2012-07-10 16:22:48 +10:00
302696951a
AHRS: make the yaw independent drift correction optional and disable
...
the new correction algorithm copes poorly with gyro drift, leading to
signification attitude errors in the face of drift
2012-07-06 15:11:30 +10:00
8c5ef3e60f
AHRS: only enable barometer for AHRS if it is smooth enough
...
if we used less than 5 samples to compute the pressure then don't use
it for climb rate
2012-07-05 16:29:21 +10:00
2cd6da2539
AHRS: only use GPS for yaw when compass is not being used
...
this avoids having two competing controllers
2012-07-05 13:00:46 +10:00
adfa97b6f8
AHRS: enable barometer for vertical velocity
...
this re-enables the barometer for vertical velocity information
for drift correction, now that we have a better filter
on the climb rate
2012-07-05 13:00:46 +10:00
faeda3713e
AP_AHRS: removed DCM_test example sketch
...
No longer required because it doesn't compile and is redundant anyway because the AP_AHRS_DCM class is tested in the AHRS_Test example sketch.
2012-07-04 18:22:51 +09:00
3849ca8b5c
AHRS: make DCM drift correction not rely on accurate yaw
...
this uses a new formulation of the GPS based drift correction from
Bill Premerlani that rotates the error vector to avoid relying on
accurate yaw. This means we should get accurate roll/pitch correction
even with lots of magnetometer interference
It also makes it possible to fly a multicopter with no compass. It can
even navigate and correct yaw (slowly!)
2012-07-04 17:00:40 +10:00
1314e4f872
AHRS: make P gain on PI roll/pitch controller tunable
...
this is to make it easier for Craig and Alan to tune
2012-07-04 12:42:46 +10:00
136c03c3c0
AHRS: include the P terms in get_gyro()
...
this makes it more useful for navigation controllers
2012-06-29 21:54:09 +10:00
16c55c64d4
AHRS: don't add the P terms in _omega
...
this can lead feedback via the _P_gain()
2012-06-29 15:10:51 +10:00
37fc6c46b9
AHRS: disable barometer for vertical acceleration
...
this seems to have been the cause of the 'flips' seen by Marco and
others. Testing by Craig and Alan shows that the flips are gone when
the barometric acceleration is removed.
It looks like a 5 point average filter is not enough to keep the
vertical acceleteration noise low. With high noise in the z axes, the
x and y axes are scaled back when the ge vector is normalised.
2012-06-28 11:12:49 +10:00
58c4d458dc
AHRS: re-instate new DCM drift correction code
...
This reverts commit 078489638d47fbaffde7c51249e36b5a8fc4ef9d.
2012-06-28 11:09:22 +10:00
fd241692d0
AHRS: revert to the old drift correction algorithm
...
we need to work out why Craigs quad flipped today before we enable
this new drift correction
2012-06-27 18:16:41 +10:00
8e044a560b
AHRS: include P term in omega
...
thanks to Jon for suggesting this
2012-06-27 16:01:50 +10:00
37e2f2ee2c
AHRS: implement spin rate limits
...
this follows the method that Bill developed in his fastRotations
paper. We've demonstrated that this is indeed needed in APM, as we
were able to produce the 'dizzy' effects in both the ArduPlane and
ArduCopter simulator
2012-06-27 16:01:50 +10:00
e4a245179c
AHRS: cope with copters with no compass
...
if a copter doesn't have a compass, we can't use the GPS for gyro
drift correction
2012-06-27 16:01:50 +10:00
3a41ad8e7c
AHRS: normalize the ge vector in drift correction, and use barometer
...
The normalisation ensures the error term scales uniformly with
different accelerations.
The barometer is used for vertical acceleration estimation
2012-06-27 16:01:50 +10:00
d230690b7b
AHRS: brought DCM more inline with Bill's implementation
...
omega_I applied continuously. _ki larger. Stop integrating when _omega.length()>20
The key change was the scaling of ge to ensure the error is not
quadratic
2012-06-27 16:01:49 +10:00
d4c8041c51
AHRS: first successful version of Bills new drift correction system
...
This makes 3 major changes:
1) fixes the scaling of the yaw drift correction term to fix the time
constant
2) don't integrate the mag vector over multiple readings
3) accumulate omega_I changes over 15 seconds before applying, to try
to prevent omega_I picking up short term responses
2012-06-27 16:01:49 +10:00
4d08f75292
AHRS: update for new _fly_forward flag
2012-06-27 16:01:49 +10:00
0f5c22bd8e
AHRS: implement Bills new drift correction algorithm
...
this is an initial implementation of this paper:
http://gentlenav.googlecode.com/files/RollPitchDriftCompensation.pdf
2012-06-27 16:01:49 +10:00
52d77407d4
AHRS: added GPS support to AHRS test
2012-06-27 16:01:49 +10:00
f274df454a
DCM: fixed a bug when using GPS for yaw correction
...
When using GPS for yaw correction we need to apply the x and y omegaI
corrections from the _omega_I_sum in the period before we get to the
minimum ground speed for GPS yaw correction. Otherwise we get a large
sudden omega_I change on takeoff.
2012-05-21 12:15:06 +10:00
6e1798b104
AP_AHRS: updated default AHRS_YAW_P to 0.2 (was 0.4)
...
This reduces the compass's default authority over the yaw direction by half
2012-04-30 17:29:45 +09:00
3309dec205
AP_AHRS_DCM.cpp: Added comments that follow the new parse structure
2012-04-25 12:00:42 -05:00
2a3af369b6
DCM: buffer omega_I changes over 10 seconds
...
this buffers up _omega_I changes in _omega_I_sum over a period of 10
seconds, applying the slope limit only when _omega_I_sum is
transferred to _omega_I.
The result is a huge improvement in the ability of _omega_I to track
gyro drift over the long term.
2012-04-23 12:13:25 +10:00
f27d85cb8d
DCM: drop the 'drop z' method
...
the 'drop z' method reduced the impact of noise on omegaI, but it also
made us more sensitive to errors in accelerometer calibration and
scaling, as demonstated by the logs from Gabor here:
http://diydrones.com/xn/detail/705844:Comment:834373
Simulation testing shows that the other noise suppression methods
applied in the DCM code, in particular the slope limiting on omegaI
the removal of the weighting and the upcoming use of a _omega_I_sum
buffer have reduced the impact of noise enough that we can now safely
include z in the acceleration calculation.
2012-04-23 12:13:24 +10:00
Andrew Tridgell
Pat Hickey
rmackay9
Michael Oborne
uncrustify
Jason Short
Jonathan Challinger
Adam M Rivera