Andrew Tridgell
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
Andrew Tridgell
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
Andrew Tridgell
4d08f75292
AHRS: update for new _fly_forward flag
2012-06-27 16:01:49 +10:00
Andrew Tridgell
b549b88e5e
AHRS: fixed error_yaw reporting with 2 MAVLink connections
...
when a user first connects with USB, and later switches to the
telemetry port without restarting we were getting zero for error_yaw
in the logs, as AHRS.get_error_yaw() was being called twice.
This ensures we give the last value after the counter is reset
2012-03-29 12:39:53 +11:00
Andrew Tridgell
c53b320e00
Quaternion: change signs in AP_AHRS_Quaternion
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thanks to Justin for the suggestion
2012-03-19 17:29:02 +11:00
Andrew Tridgell
f8087d3c67
AHRS: adapt the quaternion library to AHRS
2012-03-19 17:29:02 +11:00
Andrew Tridgell
9d75ffeba1
AHRS: rename DCM and Quaternion implementions ready for AHRS class
...
this is the first step to creating a general AHRS class for ArduPilot
2012-03-19 17:29:01 +11:00