rmackay9
f8ad719825
AC_PID - added more paranoid checking that imax is positive in constructor, operator() and load_gains methods
2012-03-20 11:51:15 +09:00
Andrew Tridgell
aeb010b6e9
AHRS: added AHRS specific MAVLink headers
2012-03-19 17:35:20 +11:00
Andrew Tridgell
07b6f55122
AHRS: added missing AP_AHRS.h
2012-03-19 17:35:20 +11:00
Andrew Tridgell
f1898c3335
DCM: use the new rotate() method from AP_Math
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this allows us to use a tested and optimised rotation method
2012-03-19 17:29:02 +11:00
Andrew Tridgell
9a40b4b1de
Math: added a test for the rotate() method
2012-03-19 17:29:02 +11:00
Andrew Tridgell
7d155c77b1
Math: added rotate() method to Matrix3f
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this is the core method used to update the DCM matrix with a gyro
vector. Moving it to AP_Math allows us to have a test for it
2012-03-19 17:29:02 +11:00
Andrew Tridgell
a41281ab7f
Math: added zero() and identity() methods to Matrix3f
2012-03-19 17:29:02 +11:00
Andrew Tridgell
fbe8592d3c
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
df79703ed1
Math: change signs in quaternion library
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thanks to Justin for the suggestion
2012-03-19 17:29:02 +11:00
Andrew Tridgell
c87b945fd2
Math: allow eulers test to build with AP_Declination library
2012-03-19 17:29:02 +11:00
Andrew Tridgell
39067299a5
Math: fixed build of eulers test on SITL
2012-03-19 17:29:02 +11:00
Andrew Tridgell
b6040878b4
Math: added a function to combine standard rotations
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this will allow us to have an overall board rotation plus a per-sensor
rotation
2012-03-19 17:29:02 +11:00
Andrew Tridgell
784f08728b
AP_Mount: adapt library for AHRS framework
2012-03-19 17:29:02 +11:00
Andrew Tridgell
3b43d3f9b9
AHRS: fixup the AHRS test suite for the new framework
2012-03-19 17:29:02 +11:00
Andrew Tridgell
fe63e79416
AHRS: adapt the quaternion library to AHRS
2012-03-19 17:29:02 +11:00
Andrew Tridgell
2d12bdb412
AHRS: adapt the DCM_HIL library to AHRS
2012-03-19 17:29:02 +11:00
Andrew Tridgell
bf96d05605
AHRS: adapt the DCM library to the AHRS framework
2012-03-19 17:29:02 +11:00
Andrew Tridgell
e976c70e19
AHRS: rename DCM and Quaternion implementions ready for AHRS class
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this is the first step to creating a general AHRS class for ArduPilot
2012-03-19 17:29:01 +11:00
Andrew Tridgell
1170893aaa
MAVLink: rename DCM message to AHRS
2012-03-19 17:29:01 +11:00
rmackay9
f3eb15167c
AP_Baro - removed unnecessary 2 element average filtering of pressure (there is a 4 or 5 element average filter in arducopter code itself, two places is messy)
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- also removed unused _offset_press variable
2012-03-18 15:18:05 +09:00
rmackay9
ed0d1da4f5
AP_Baro - added average filter for temperature to replace broken filter
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- added average filter (for last two values) for raw pressure
- changed some "long" to int32_t and "unsigned long" to uint32_t
2012-03-18 01:06:02 +09:00
Michael Oborne
42960efe80
sitl cygwin mods
2012-03-15 08:16:50 +08:00
Andrew Tridgell
adcc20e4d3
Quaternion: credit Justin with the initial idea of using Madgwick
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thanks Justin!
2012-03-13 13:27:45 +11:00
Andrew Tridgell
9a6adb9990
DCM: adjust yaw kp constant down to 0.4
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this makes the time constant for compass errors closely match the
timing of the older releases - about 10 seconds for a 1 radian change
in heading
2012-03-12 17:49:26 +11:00
Andrew Tridgell
aa408655f8
Compass: fixed the order of rotations in the compass driver
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this should fix the massive heading issues that people have been
reporting. Please test!
2012-03-12 17:33:15 +11:00
Andrew Tridgell
0e6037322a
AP_Declination: fixed build of test sketch
2012-03-12 17:33:15 +11:00
Amilcar Lucas
a203282779
correct small typos in comments
2012-03-11 21:30:09 +01:00
Andrew Tridgell
42a29169f0
SITL: added pgm_read_byte_far()
2012-03-11 20:59:47 +11:00
Andrew Tridgell
b4d69ef473
AP_Declination: fixed usage of headers
2012-03-11 20:59:47 +11:00
Adam M Rivera
ad3a20b6a3
AP_Declination: Updated comment.
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Signed-off-by: Andrew Tridgell <tridge@samba.org>
2012-03-11 20:59:47 +11:00
Adam M Rivera
c390db5d92
AP_Declination: Added method set_initial_location
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This will set the declination based on lat/lon if the user has
not yet saved one to the EEPROM, OR if they have specified via the
config parameter that they want it to overwrite the declination every
3D fix.
Signed-off-by: Andrew Tridgell <tridge@samba.org>
2012-03-11 20:59:47 +11:00
Adam M Rivera
94d1c48544
AP_Declination: Increased range of supported latitude coordinates.
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Fixed incorrect type usage to save stack space.
Signed-off-by: Andrew Tridgell <tridge@samba.org>
2012-03-11 20:59:47 +11:00
Adam M Rivera
1709403b87
Added AP_Declination test sketch. I will be improving the test sketch soon.
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Signed-off-by: Andrew Tridgell <tridge@samba.org>
2012-03-11 20:59:47 +11:00
Adam M Rivera
3f28184cb0
Added AP_Declination library. It contains the lookup table (lat/lng -> declination) as well as a method that performs the lookup.
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Signed-off-by: Andrew Tridgell <tridge@samba.org>
2012-03-11 20:59:47 +11:00
Andrew Tridgell
d4aa0a4879
Compass: removed an incorrect comment
2012-03-11 20:07:38 +11:00
Andrew Tridgell
a20f57c59e
Compass: don't save the orientation to EEPROM
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there is no point in saving this, the value is only configurable at
compile time for now, and is always set
2012-03-11 15:37:07 +11:00
Andrew Tridgell
cc1961b1e8
Math: any euler angle with pitch > 90 is invalid
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both DCM and quaternion always return pitch in the range -90 to 90
2012-03-11 15:37:07 +11:00
Andrew Tridgell
36e92bf4ba
Quaternion: update for new Quaternion interface
2012-03-11 15:37:07 +11:00
Andrew Tridgell
eea63ecd6e
DCM: update for new Matrix3f interface
2012-03-11 15:37:07 +11:00
Andrew Tridgell
01535a7a21
AP_Math: update the test suite
2012-03-11 15:37:07 +11:00
Andrew Tridgell
6d08e38d5d
AP_Math: made rotation matrices more C++
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thanks to Adam for the suggestion
2012-03-11 15:37:07 +11:00
Andrew Tridgell
92ada85f49
AP_Math: allow null pointers in Quaternion::to_euler()
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this matches the Matrix3f method
2012-03-11 15:37:07 +11:00
Andrew Tridgell
18fcb14335
Quaternion: use the new quaternion API
2012-03-11 15:37:07 +11:00
Andrew Tridgell
a9b8c4dd82
AP_Math: re-work quaternion functions to be more C++ like
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thanks to Adam for the suggestion!
2012-03-11 15:37:07 +11:00
Andrew Tridgell
ea0fb311af
I2C: fixed cr/lf mess
2012-03-11 15:37:07 +11:00
Andrew Tridgell
5203df2cf8
OpticalFlow: adapt optical flow library to new rotation system
2012-03-11 15:37:07 +11:00
Andrew Tridgell
7aa6ba2c86
OpticalFlow: fixed line endings
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this library was a mixture of dos and unix line endings, which makes
for very messy editing
2012-03-11 15:37:07 +11:00
Andrew Tridgell
3c145ab61c
Compass: update the compass driver to use the new vector.rotate() method
2012-03-11 15:37:07 +11:00
Andrew Tridgell
24a9fe8827
Math: added a test suite for the new rotation methods
2012-03-11 15:37:07 +11:00
Andrew Tridgell
85c3c1d2ea
Math: added vector3.rotate() and matrix3.rotation() methods
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these operate on a "enum Rotation" which defines a set of standard
rotations. These are much faster than our previous method, plus use
less memory
2012-03-11 15:37:07 +11:00