7 Commits

Author	SHA1	Message	Date
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	e699e9ace0	Quaternion: added in reporting of gyro drift and rp/yaw errors	2012-03-10 10:34:29 +11:00
Andrew Tridgell	d8234882d4	Quaternion: tweak the quaternion gains a bit	2012-03-10 10:34:29 +11:00
Andrew Tridgell	ffa6786697	Quaternion: drop the gyro drift rates down ... this should allow us to cope with noise more readily	2012-03-10 10:34:29 +11:00
Andrew Tridgell	c369d9f60a	AP_Quaternion: added DCM compatibility interfaces ... useful for getting the code going quickly	2012-03-10 10:34:29 +11:00
Andrew Tridgell	c8a459ab0d	fixed deltat in quaternion	2012-03-10 10:34:28 +11:00
Andrew Tridgell	74eef7018a	Quaternion: added an AP_Quaternion library ... this is for experimenting with the Madgwick quaternion system, to see if it is more or less noise sensitive than DCM	2012-03-10 10:34:28 +11:00