105 Commits

Author	SHA1	Message	Date
Andrew Tridgell	0f5c22bd8e	AHRS: implement Bills new drift correction algorithm ... this is an initial implementation of this paper: http://gentlenav.googlecode.com/files/RollPitchDriftCompensation.pdf	2012-06-27 16:01:49 +10:00
Andrew Tridgell	f27d85cb8d	DCM: drop the 'drop z' method ... the 'drop z' method reduced the impact of noise on omegaI, but it also made us more sensitive to errors in accelerometer calibration and scaling, as demonstated by the logs from Gabor here: http://diydrones.com/xn/detail/705844:Comment:834373 Simulation testing shows that the other noise suppression methods applied in the DCM code, in particular the slope limiting on omegaI the removal of the weighting and the upcoming use of a _omega_I_sum buffer have reduced the impact of noise enough that we can now safely include z in the acceleration calculation.	2012-04-23 12:13:24 +10:00
Andrew Tridgell	8e90aeea4e	AHRS: added AHRS_YAW_P parameter ... this allows users to change the yaw gain in DCM	2012-04-16 20:55:13 +10:00
rmackay9	c96dfb2108	AP_AHRS - changed parameter order to remove compiler warning	2012-04-09 17:37:11 +09:00
Andrew Tridgell	9e6c18cca4	AHRS: added missing AP_AHRS.h	2012-03-19 17:35:20 +11:00