747e045193
ModeFilter - corrected shadowed variable compiler warning for drop_high_sample
2012-02-26 17:57:28 +09:00
e01477a7a8
Filter - added AverageFilter - this will be used in place of SumFilter because it removes the possibility of overflows
2012-02-26 17:34:36 +09:00
b345529241
Filter - removed shadowing of variables in constructors for Filter, ModeFilter and SumFilter (sorry tridge!)
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increased maximum sample buffer size from 6 to 10
2012-02-26 17:17:46 +09:00
3f0d27ec87
ModeFilter - remove older ModeFilter library (new library is now in Filter directory)
2012-02-26 15:36:23 +09:00
00a1b5cd53
AP_RangeFinder - cut over to use new ModeFilter from Filter library
2012-02-26 15:34:50 +09:00
ae8fd43335
Filter - first version of filter library include ModeFilter
2012-02-26 15:34:05 +09:00
f6f05755d9
AP_Mount - #include FastSerial first to allow it to compile under Arduino 1.0
2012-02-26 15:31:56 +09:00
bd2776aedd
Compass: use constructor to set initial values for _learn and _use_for_yaw
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this ensures they are set if you have MAG_ENABLE==0
2012-02-25 17:36:31 +11:00
56bb74ef36
DCM: disable compass null offsets when setting initial yaw
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we need to ensure the compass null offsets code doesn't see a sudden
yaw change, or it will change the offsets by a large amount very
suddenly
2012-02-25 16:02:24 +11:00
f50f4357ca
Compass: catch the case of a user enabling a compass mid-flight
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if a compass has not been initialised at startup we can't enable it
mid-flight, as we don't have the orientation
2012-02-25 14:51:09 +11:00
3abe035557
DCM: use the new use_for_yaw() compass method
2012-02-25 14:51:09 +11:00
c3319afadd
Compass: added COMPASS_LEARN and COMPASS_USE parameters
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these allow you to control if the compass should be used for yaw and
if it should learn its offsets. This is useful for locking in compass
offsets once they are confirmed to be good, and for learning offsets
without using them in flights.
The default is to behave the same as previously, which is
COMPASS_LEARN=1 and COMPASS_USE=1
2012-02-25 14:51:08 +11:00
051bd78b37
AP_Param: added some comments on AP_Vector3f handling
2012-02-25 11:37:20 +11:00
3cf0eebac8
DCM: don't reset _have_initial_yaw for GPS heading unless very slow
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wait till we reach 1m/s before we reset _have_initial_yaw. This
prevents us continually resetting the DCM matrix if our ground speed
is close to 3m/s.
2012-02-25 11:37:20 +11:00
007a6b8958
AP_Param: added special handling for Vector3f
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We would like to be able to use Vector3f as a parameter while exposing
the individual elements of the vector as MAVLink parameters. This
change to AP_Param makes that possible, by giving AP_Vector3f a dual
personality
2012-02-25 11:37:20 +11:00
1d95137b71
SITL: added -C option to desktop mode
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this allows running APM to stdout, which is useful for test sketches
2012-02-25 11:37:20 +11:00
f221bd13ab
libs: removed unused library GPS_IMU
2012-02-25 11:37:20 +11:00
1a21c78062
libs: removed unusued library GCS_SIMPLE
2012-02-25 11:37:20 +11:00
c63ca9c697
DCM: tidy up use of error_course and in_motion
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in_motion is not a good name now it is also used for the compass
The error_course and heading component values don't need to be part of
the DCM object, they can be on the stack to reduce the memory usage a bit
2012-02-25 11:37:20 +11:00
d5b619218c
DCM: use rotation_matrix_from_euler() to calculate initial yaw
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When we first get a compass reading or we first start motion we need
to setup the DCM matrix with the right yaw. This uses
rotation_matrix_from_euler() to get a DCM matrix corresponding to our
current roll/pitch, but with the correct yaw
2012-02-25 11:37:20 +11:00
48cad8bc25
DCM: use rotation_matrix_from_euler() in matrix reset
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this makes the code a bit easier to read
2012-02-24 11:54:11 +11:00
5009679617
DCM: use calculate_euler_angles() to get eulers from DCM
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this makes the code a bit easier to understand
2012-02-24 11:52:55 +11:00
df6013616e
AP_Math: added rotmat <-> euler functions
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these will make the dcm matrix manipulation easier to understand
2012-02-24 11:52:55 +11:00
50f85835bd
Compass: ensure we don't produce NAN values for compass heading
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this leaves the previous heading values alone if we are at a pitch of
exactly 90 or -90, at which point we can't compute a meaningful
heading
2012-02-24 11:52:55 +11:00
8190204287
AP_Math: added safe_sqrt() function
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this function will never return NAN. It will return zero for negative
numbers.
2012-02-24 11:52:55 +11:00
0acea11152
DCM: tidy up the nan checking in DCM
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use is_nan() on the matrix rather than just on c.x, and add
safe_asin() to the (unused) OUTPUTMODE==2 code.
2012-02-24 11:52:55 +11:00
b4c8d6491a
DCM: added matrix recovery on reset
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when we get a bad DCM error we can recover a matrix corresponding to
the current attitude, making it more likely that the aircraft will be
able to recover
2012-02-24 11:52:55 +11:00
1a32ececb4
AP_Math: added a safe_asin() function
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this adds range checking to asin()
2012-02-24 11:52:55 +11:00
7dd909a16b
AP_Math: added is_nan() methods to vector3f and matrix3f
2012-02-24 11:52:55 +11:00
2a4b7facaa
added set integrator
2012-02-23 09:38:08 -08:00
8707965c15
DCM: changed the sense of floating point range comparison
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This allows us to detect NaN, otherwise NaN values were considered
'in range'
2012-02-23 11:41:26 +11:00
9caa4aeb44
DCM: range check the matrix before calculating pitch
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The asin() in the pitch calculation can only take values between -1
and 1. This change ensures that the value is in range, and if it isn't
then we force a normalization. If that fails we reset the matrix
2012-02-23 08:16:08 +11:00
13693e1a04
DCM: reset more values on renorm blowup
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when DCM blows up, we need to reset a lot more variables to ensure
that any NaN values don't persist
2012-02-23 08:16:08 +11:00
5cfe1ad5dc
DCM: remove the taylor expansion optimisation for renormalisation
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The sqrt() costs about 44usec on a 2560, which is small enough for us
not to worry about the speed.
This also changes the range of values where we declare a blowup to
much less likely, which means we can cope with larger delta_t glitches
2012-02-23 08:16:08 +11:00
f30c721886
AP_Param: added ParamToken type for variable list traversal
2012-02-19 17:05:28 +11:00
669e8e34ea
added a limit to range output
2012-02-18 21:08:17 -08:00
0b369cf78b
Optflow - added reference to FastSerial to resolve compile error on Arduino 1.0.
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also removed reference to DCM (no longer required) and removed some old code.
2012-02-18 18:09:40 +09:00
2472f0a2f3
SITL: increase the amount of noise in the simulated ADC
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this increases the noise to 2 bits, which actually can have the effect
of improving accuracy, as it leads to better averaging
2012-02-18 19:27:15 +11:00
9602b1f91b
DCM: only add in centripetal accel if we have GPS lock
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if we don't have a GPS or the GPS doesn't have a good lock then we
can't rely on the ground speed for adjusting the acceleration vector
2012-02-18 19:27:15 +11:00
371a91cfcf
IMU: move _sensor_cal to general IMU class
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this makes it available both in shim and INS subclasses
2012-02-18 10:51:57 +11:00
2b8f0c3a48
AP_Param: moved AP_Vector3f and AP_Matrix3f declarations to AP_Math.h
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this avoids us needing AP_Math.h in every utility sketch and example
2012-02-18 10:51:57 +11:00
70a135c47c
AP_Param: fixed copy-assignment operators for AP_Param vectors
2012-02-18 10:51:57 +11:00
e656928c01
AP_Param: added a set_and_save_ifchanged() method
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this can be used to avoid the scan() in more frequenctly saved
variables, such as the MAVLink stream rates in APM
2012-02-18 10:51:57 +11:00
6f080742b8
AP_Param: added an initialised() method
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this will be used by the compass code
2012-02-18 10:51:57 +11:00
5255512bf9
Found free extra 256 bytes of RAM eliminate _clz use from libgcc
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Believe it or not, changing / 2^31 to >>31 saved 256 bytes in the "d" segment.
The reason is that GCC version prior to 4.3.5 does not have a count_leading_zeros (clz) assembler macro, so it uses a 256 byte lookup table called _clz
The _clz table gets pulled in if you do 64 bit division.
This tiny change is the only place that we do long long division.
Changing to a shift saves 256 bytes of ram.
2012-02-17 09:46:05 +00:00
560985b509
made I term return in same pattern as D term
2012-02-16 22:09:22 -08:00
3fbb5a2d6c
ADC: on channel overflow we should not zero last_ch6_micros
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this happens every 64 seconds because of unused channels on the
ADC. Zeroing this creates a bad delta_t value for the DCM code.
2012-02-16 17:48:36 +11:00
8e88d9e19e
change constant to float 44330.0
2012-02-15 09:10:14 -08:00
b020a87c13
eedump ap param in perl
2012-02-15 21:31:58 +08:00
bc89b53bdc
SITL: adjust the SITL compass code to have saner z values
2012-02-15 22:34:16 +11:00
rmackay9
Andrew Tridgell
Jason Short
justinbeech
Michael Oborne