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337 Commits

Author SHA1 Message Date
Andrew Tridgell
9a5ecc9541 AP_AHRS: use primary accel for accel_ef 
Logs from Randy show that the copter INav code can't handle the
accelerometer sensor changing.
 2014-02-27 16:28:37 +11:00
Andrew Tridgell
b53496d470 AP_AHRS: choose the best accelerometer at each drift correction step 
this greatly reduces the impact of aliasing on accelerometers by
choosing the accelerometer that produces the smallest error term in
DCM. The difference can be quite dramatic on the Pixhawk.
 2014-02-27 09:41:28 +11:00
Andrew Tridgell
0b45d2bc06 AP_AHRS: removed the AHRS_GPS_DELAY parameter 
the best value has turned out to be 1, and tweaking it has not turned
out to be useful, so this simplifies the code in preparation for
adding the anti-aliasing handling with multiple accelerometers
 2014-02-27 08:57:44 +11:00
Andrew Tridgell
6fc5c12f1d AP_AHRS: remove unused variable 2014-02-26 10:28:12 +11:00
Jonathan Challinger
f321a5f241 AP_AHRS: Change airspeed_estimate to const in children of AP_AHRS 
Allows roll/pitch controllers to use DCM's airspeed estimate. Thanks to Kevin Hester for assistance in finding this.
 2014-02-25 18:49:16 +11:00
Paul Riseborough
9f3c19c03a AP_AHRS : change initialisation requirements for EKF and use dynamic method 2014-02-23 19:50:34 +11:00
Andrew Tridgell
b434c11215 AP_AHRS: removed empty file 2014-02-19 22:00:25 +11:00
Andrew Tridgell
3b1f9a4bbf AP_AHRS: added get_armed() and set_armed() calls 
will be used by NavEKF to determine static mode
 2014-02-19 10:52:24 +11:00
Andrew Tridgell
fad0b2b233 AP_AHRS: added get_correct_centrifugal() 
used by NavEKF to force static mode
 2014-02-19 10:28:14 +11:00
Andrew Tridgell
ee37bc3d27 AP_AHRS: ensure we have HAL_CPU_CLASS available 2014-02-16 17:57:09 +11:00
Randy Mackay
a021d0ca31 AHRS: fix compiler warning 2014-02-16 13:35:37 +11:00
Andrew Tridgell
be33a9634e AP_AHRS: move using_EKF to .cpp to make it easier in gdb 2014-02-15 09:25:40 +11:00
Andrew Tridgell
eedd88c2ec AP_AHRS: give zero lat/lng and baro alt if no position yet in DCM 2014-02-15 09:25:40 +11:00
Randy Mackay
5bdc564191 AP_AHRS: fix example sketch 2014-02-15 06:09:08 +11:00
Andrew Tridgell
801ceacaf2 AP_AHRS: re-run update_trig() after EKF AHRS update 2014-02-15 05:48:24 +11:00
Andrew Tridgell
25ef0d5a7b AP_AHRS: don't allow get_velocity_NED() and get_relative_position_NED() without EKF 
this avoids some linking issues, plus the functions are inaccurate
without EKF
 2014-02-15 05:48:24 +11:00
Andrew Tridgell
c62ccce9d8 AP_AHRS: make estimate_wind() public 
this avoids it linking into copter
 2014-02-15 05:48:24 +11:00
Andrew Tridgell
f09ae0c2d0 AP_AHRS: expose get_NavEKF as non-const 
better than having two methods
 2014-02-15 05:48:22 +11:00
Paul Riseborough
08267cea87 AP_AHRS: Scheduling for yaw gain to reduce atitude errors in turning flight 2014-02-15 05:48:22 +11:00
Paul Riseborough
b4171853b1 AP_NavEKF: allow initialisation before GPS lock to aid indoor testing 2014-02-15 05:48:21 +11:00
Paul Riseborough
0599817aa9 AP_AHRS : EKF initialisation changed to use bootstrap method 2014-02-15 05:48:21 +11:00
Randy Mackay
f068d0ff7e AP_AHRS_NavEKF: expose non-const EKF for tuning 2014-02-15 05:48:20 +11:00
Randy Mackay
9f130b40a0 AP_AHRS_NavEKF: override set_correct_centrifugal 2014-02-15 05:48:20 +11:00
Randy Mackay
8f6fd86f69 AP_AHRS: make set_correct_centrifugal virtual 2014-02-15 05:48:20 +11:00
Paul Riseborough
a87df0ad56 AP_AHRS : set NavEKF staticMode using call to set_correct_centrigual 2014-02-15 05:48:20 +11:00
Paul Riseborough
ab08a5c7d6 AP_AHRS : altered NavEKF set home to reset position instead of reset filter 2014-02-15 05:48:18 +11:00
Andrew Tridgell
574946f0aa AP_AHRS: start EKF 5 seconds after getting GPS lock 2014-02-15 05:48:17 +11:00
Andrew Tridgell
df271fbd59 AP_AHRS: fill in _dcm_matrix whenever EKF started 
this ensures get_dcm_matrix() always returns valid data
 2014-02-15 05:48:17 +11:00
Andrew Tridgell
ada7d4fb98 AP_AHRS: use the right DCM matrix when EKF not enabled 2014-02-15 05:48:17 +11:00
Andrew Tridgell
a74fcc5a93 AP_AHRS: added set_ekf_use() 2014-02-15 05:48:17 +11:00
Andrew Tridgell
5d43a1d704 AP_AHRS: added inertial nav interfaces to AHRS 2014-02-15 05:48:16 +11:00
Andrew Tridgell
392995ef84 AP_AHRS: make AHRS handle altitude 
AHRS now holds the home position
 2014-02-15 05:29:47 +11:00
Andrew Tridgell
1e476e511a AP_AHRS: pass baro into AP_AHRS 
first step in making AHRS handle altitude
 2014-02-15 05:29:47 +11:00
Andrew Tridgell
6e5077b60b AP_AHRS: removed unused AP_AHRS_HIL 2014-02-15 05:29:46 +11:00
Andrew Tridgell
84c7b0d7fd AP_AHRS: check for NavEKF health 2014-02-15 05:29:46 +11:00
Andrew Tridgell
b39a5062e9 AP_AHRS: use NavEKF for ground vector when available 2014-02-15 05:29:45 +11:00
Andrew Tridgell
b6bc50051f AP_AHRS: allow reporting of secondary AHRS solution 2014-02-15 05:29:45 +11:00
Andrew Tridgell
8c5cde4efd AP_AHRS: allow NavEKF to be enabled at runtime with AHRS_EKF_USE=1 2014-02-15 05:28:10 +11:00
Andrew Tridgell
7ac78ff991 AP_AHRS: create AP_AHRS_NavEKF class 
subclass of AP_AHRS_DCM, just a wrapper for now, will add EKF calls
next
 2014-02-15 05:28:09 +11:00
Andrew Tridgell
c7533579ac AP_AHRS: added get_airspeed() interface to AHRS 2014-02-15 05:28:07 +11:00
Randy Mackay
98d667c916 AHRS_HIL: call update_trig 2014-02-08 18:16:44 +09:00
Randy Mackay
6946d68318 AHRS_DCM: call update_trig 2014-02-08 18:16:42 +09:00
Randy Mackay
3dc6ea682c AHRS: add update_trig 
Calculates helper trig values including cos_roll, cos_pitch
 2014-02-08 18:16:39 +09:00
Paul Riseborough
f2c2811ef3 AP_AHRS & AP_Math: fixed bug in use of AHRS_TRIM parameters 2014-01-19 07:19:43 +11:00
Andrew Tridgell
a96840e194 AP_AHRS: changed default GPS lag to 1 sample 
this is based on detailed logs from a LEA-6H and NEO-7N
 2013-12-30 10:33:48 +11:00
Andrew Tridgell
410d356979 AP_AHRS: make airspeed_estimate const 2013-12-29 18:39:01 +11:00
Michael Day
e5addf86c1 AP_AHRS: Added getters for compass and GPS. 2013-12-11 17:29:14 +11:00
Andrew Tridgell
baa4ecc2ea APA_AHRS: update for compass API change 2013-12-09 17:34:07 +11:00
Andrew Tridgell
b248cc0868 AP_AHRS: fixed a build warning 2013-11-23 21:44:56 +11:00
Andrew Tridgell
710d5119b5 AP_AHRS: added attitude_reset() method for HIL_SENSORS 2013-11-23 19:29:23 +11:00
Andrew Tridgell
6ed493b10f AP_AHRS: added attitude_reset() method for HIL_SENSORS 2013-11-23 18:50:56 +11:00
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
Andrew Tridgell
a4d25f5a82 AHRS: removed AHRS_BARO_USE option 
this option has caused users too much trouble. The vertical velocity
is too noisy from the baro
 2013-04-15 10:52:31 +10:00
Andrew Tridgell
87b0fb05ce AHRS: changed default RP and YAW gain to 0.3 
this reduces the impact of hard acceleration on takeoff, and reduces
the impact of GPS lag

Note that this doesn't affect copters, as they override to 0.1
 2013-04-15 10:52:31 +10:00
priseborough
b63d0969b7 AP_AHRS: Addition of a first order complementary filter to AP_AHRS::groundspeed_vector 
Addition of a complementary filter to estimation of the ground velocity vector for use by the L1-nav
 2013-04-12 12:48:09 +10:00
Andrew Tridgell
05ecb8d8fa AP_AHRS: fixed functions that need to be virtual 
functions overridden in a child class need to be marked virtual, or
you get the parent class function
 2013-04-12 12:48:08 +10:00
Andrew Tridgell
ee81b0f729 AP_AHRS: added wind_correct_bearing() and groundspeed_vector() 
these are very useful for navigation libraries
 2013-04-12 12:48:08 +10:00
Andrew Tridgell
896fd52aa1 AP_AHRS: fixed functions that need to be virtual 
functions overridden in a child class need to be marked virtual, or
you get the parent class function
 2013-03-29 18:35:10 +11:00
Andrew Tridgell
8459da202c AP_AHRS: prevents compass flyaways for plane and rover 
this switches to the GPS for yaw if the compass has dragged us off by
more than 45 degrees from the GPS heading, and the wind speed is less
than 80% of the ground speed.
 2013-03-29 13:48:25 +11:00
Randy Mackay
24044dc0c4 AHRS: add support for GPS fix type 2D 2013-03-27 11:41:43 +09:00
Randy Mackay
3321db8dde AHRS: limit trim to 10 degrees 2013-02-19 18:50:57 +09:00
Andrew Tridgell
6119201307 AP_AHRS: ensure compass is non-NULL for set_board_orientation() 2013-01-17 17:23:34 +11:00
James Bielman
5631f865b2 Update floating point calculations to use floats instead of doubles. 
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
 2013-01-16 13:52:01 +11:00
Andrew Tridgell
f644a356c9 AP_AHRS: document more rotation combinations 2013-01-13 17:32:48 +11:00
Andrew Tridgell
848fc3e32d AP_AHRS: added AHRS_ORIENTATION parameter 2013-01-13 17:32:48 +11:00
rmackay9
9e5861ccaf AP_AHRS: small fix to parameter comments 2013-01-02 16:08:38 +09:00
rmackay9
77331f6538 AP_AHRS: another attempt at updating the TRIM parameter descriptions 2013-01-02 15:47:59 +09:00
rmackay9
e6c10f4f0b AP_ARHS: add description to AHRS_TRIM parameters 2013-01-02 15:44:42 +09:00
Andrew Tridgell
374af1cd14 build: change from Arduino.mk to apm.mk 2013-01-02 17:29:37 +11:00
Andrew Tridgell
3ac3aeb1b1 AHRS: fixed build on ARM 2013-01-02 14:45:09 +11:00
Andrew Tridgell
583845cc17 ahrs fixup 2013-01-02 14:45:08 +11:00
Andrew Tridgell
1b0670e67c AHRS: fixup for ARM compiler 2013-01-02 14:45:08 +11:00
rmackay9
bd0e018ca0 ArduCopter: restore auto-trim method but now use AHRS.add_trim 2013-01-02 09:20:08 +11:00
rmackay9
1f7614929f AP_AHRS: save trim to eeprom when set_trim is called 2013-01-02 09:12:17 +11:00
rmackay9
1c08f176ea AP_AHRS: add get_accel_ef method to return earth frame accelerometer values for use in ArduCopter's inertial nav and accel based throttle 2013-01-02 09:11:25 +11:00
Andrew Tridgell
e282554035 AHRS: removed some debug code 2012-12-20 14:53:23 +11:00
Andrew Tridgell
ceb3f577d8 libraries: use new math functions 2012-12-20 14:53:22 +11:00
Pat Hickey
eb530b86e8 move Arduino.mk to /mk/Arduino.mk 2012-12-20 14:52:35 +11:00
Andrew Tridgell
fc66f5594f AHRS: allow AHRS test to build with SITL 2012-12-20 14:52:34 +11:00
Andrew Tridgell
7d27e420ae AP_HAL: remove unnecessary Arduino.h includes 2012-12-20 14:52:30 +11:00
Andrew Tridgell
5c148153ac AP_AHRS: updates for new AP_Param API 2012-12-20 14:51:38 +11:00
Pat Hickey
475da4eca4 CONFIG_HAL_BOARD - test sketches fixed up, build all passes 2012-12-20 14:51:37 +11:00
Andrew Tridgell
8b6ad6d559 SITL: removed SITL_debug() 
not needed any more
 2012-12-20 14:51:36 +11:00
Andrew Tridgell
5840ded767 AHRS: removed constrain() defines 2012-12-20 14:51:34 +11:00
Andrew Tridgell
09e7b0b592 AHRS: removed unused variable 2012-12-20 14:51:34 +11:00
Pat Hickey
70f34656bc AP_AHRS: uart1 -> uartB fixup 2012-12-20 14:51:34 +11:00
Pat Hickey
9bf69d4e0d AP_AHRS: port to AP_HAL 2012-12-20 14:51:29 +11:00
Pat Hickey
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
rmackay9
24317e721b AC_PID, AP_AHRS: added descriptions to some parameters 2012-12-10 22:28:39 +09:00
Andrew Tridgell
51080d3e9e AHRS: update example for new ins interface 2012-11-30 07:15:19 +11:00
Andrew Tridgell
1dad9e4e94 AHRS: improved some more doc strings 2012-11-27 15:56:53 +11:00
Andrew Tridgell
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
Andrew Tridgell
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
Andrew Tridgell
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
rmackay9
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
rmackay9
83ae8e47be AP_AHRS: replace IMU with INS and add roll and pitch trim 2012-11-07 19:20:32 +09:00
Andrew Tridgell
fe47990dab AP_AHRS: removed the 6 sats min 
this would put us into dead-reckoning mode
 2012-11-06 14:26:49 +11:00
Andrew Tridgell
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
Andrew Tridgell
ea40432235 AP_AHRS: use GPS vertical velocity when available 2012-11-05 14:58:40 +11:00
rmackay9
9e3824a09b AP_AHRS: fix compile error in example sketch 2012-11-01 21:56:34 +09:00
Andrew Tridgell
00bf548f87 AHRS: limit wind speed estimate changes 
sudden yaw changes can cause bad wind estimates
 2012-10-11 11:51:24 +11:00