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