44852276da
AHRS: added ahrs.yaw_initialised()
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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
562069cbd7
AHRS: avoid a compiler bug in quaternion code
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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
2c7ab7c659
AHRS: added wind estimation code
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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
708280511c
AHRS: added long-term dead-reckoning
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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
e48b0f8558
AHRS: make airspeed sensor available to AHRS
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this will be used for long term dead-reckoning
2012-08-11 08:57:32 +10:00
5a9211c278
AP_AHRS: removed var_info from AP_AHRS class (moved to AP_AHRS_DCM)
2012-07-28 14:16:56 +09:00
e531061caa
AHRS: re-instate new DCM drift correction code
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This reverts commit 078489638d47fbaffde7c51249e36b5a8fc4ef9d.
2012-06-28 11:09:22 +10:00
8600ad8d7f
AHRS: revert to the old drift correction algorithm
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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
5370f9c411
AHRS: normalize the ge vector in drift correction, and use barometer
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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
2600afe18a
AHRS: implement Bills new drift correction algorithm
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this is an initial implementation of this paper:
http://gentlenav.googlecode.com/files/RollPitchDriftCompensation.pdf
2012-06-27 16:01:49 +10:00
398a608b83
DCM: drop the 'drop z' method
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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
a9de75156b
AHRS: added AHRS_YAW_P parameter
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this allows users to change the yaw gain in DCM
2012-04-16 20:55:13 +10:00
4dac4c4c11
AP_AHRS - changed parameter order to remove compiler warning
2012-04-09 17:37:11 +09:00
07b6f55122
AHRS: added missing AP_AHRS.h
2012-03-19 17:35:20 +11:00
Andrew Tridgell
rmackay9