8ab0611261
AP_AHRS: replace IMU with INS and add roll and pitch trim
2012-11-07 19:20:32 +09:00
be6f3aed72
AHRS: added airspeed_estimate() function
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this allows the APM code to use an airspeed estimate for navigation
2012-08-25 17:49:26 +10:00
2f0c7aeb92
uncrustify libraries/AP_AHRS/AP_AHRS_DCM.h
2012-08-21 19:19:51 -07:00
6c0b7b7f53
AHRS: fixed duplicate gps_use variable in DCM
2012-08-21 20:17:03 +10:00
cc0e8be85a
AHRS: moved var_info[] into top level AP_AHRS class
2012-08-21 15:58:09 +10:00
44852276da
AHRS: added ahrs.yaw_initialised()
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this allows the high level code to know if the AHRS driver has a
reliable yaw estimate
2012-08-15 12:39:34 +10:00
562069cbd7
AHRS: avoid a compiler bug in quaternion code
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Having _wind in the AP_AHRS class causes a register allocation error
when building the Quaternion code with some versions of avr-gcc. Quite
bizarre.
2012-08-13 11:08:10 +10:00
3a92509b18
AHRS: added AHRS_GPS_USE parameter
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this allows for the GPS to be disables for position updates, which
allows for testing dead-reckoning
2012-08-11 22:06:03 +10:00
2c7ab7c659
AHRS: added wind estimation code
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this allows us to estimate the wind while we have GPS lock, then use
that estimate in the long term dead reckoning
2012-08-11 22:06:03 +10:00
708280511c
AHRS: added long-term dead-reckoning
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this uses airspeed (if available) or last GPS ground speed to update
our position estimate in AHRS
2012-08-11 12:00:31 +10:00
4e001286a6
AHRS DCM: FOrmatting
2012-08-09 16:59:43 -07:00
7be604cffd
AP_Param: update AHRS for new constructor syntax
2012-08-08 12:11:57 +10:00
c2b47d2bf9
AP_AHRS_DCM: moved var_info to belong to AP_AHRS_DCM instead of AP_AHRS
2012-07-28 14:16:15 +09:00
9b6acf168e
AHRS: added AHRS_GPS_GAIN parameter
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this allows control of how much GPS velocity information is used in
doing centripetal correction in DCM
2012-07-10 16:22:48 +10:00
03516b7dfa
AHRS: make DCM drift correction not rely on accurate yaw
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this uses a new formulation of the GPS based drift correction from
Bill Premerlani that rotates the error vector to avoid relying on
accurate yaw. This means we should get accurate roll/pitch correction
even with lots of magnetometer interference
It also makes it possible to fly a multicopter with no compass. It can
even navigate and correct yaw (slowly!)
2012-07-04 17:00:40 +10:00
e0685f4408
AHRS: make P gain on PI roll/pitch controller tunable
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this is to make it easier for Craig and Alan to tune
2012-07-04 12:42:46 +10:00
b5aa821071
AHRS: include the P terms in get_gyro()
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this makes it more useful for navigation controllers
2012-06-29 21:54:09 +10:00
e531061caa
AHRS: re-instate new DCM drift correction code
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This reverts commit 078489638d47fbaffde7c51249e36b5a8fc4ef9d.
2012-06-28 11:09:22 +10:00
8600ad8d7f
AHRS: revert to the old drift correction algorithm
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we need to work out why Craigs quad flipped today before we enable
this new drift correction
2012-06-27 18:16:41 +10:00
ce016b5ae8
AHRS: include P term in omega
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thanks to Jon for suggesting this
2012-06-27 16:01:50 +10:00
0fa1f29cf3
AHRS: implement spin rate limits
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this follows the method that Bill developed in his fastRotations
paper. We've demonstrated that this is indeed needed in APM, as we
were able to produce the 'dizzy' effects in both the ArduPlane and
ArduCopter simulator
2012-06-27 16:01:50 +10:00
5370f9c411
AHRS: normalize the ge vector in drift correction, and use barometer
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The normalisation ensures the error term scales uniformly with
different accelerations.
The barometer is used for vertical acceleration estimation
2012-06-27 16:01:50 +10:00
1ff9461bfb
AHRS: brought DCM more inline with Bill's implementation
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omega_I applied continuously. _ki larger. Stop integrating when _omega.length()>20
The key change was the scaling of ge to ensure the error is not
quadratic
2012-06-27 16:01:49 +10:00
73faaddc1b
AHRS: first successful version of Bills new drift correction system
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This makes 3 major changes:
1) fixes the scaling of the yaw drift correction term to fix the time
constant
2) don't integrate the mag vector over multiple readings
3) accumulate omega_I changes over 15 seconds before applying, to try
to prevent omega_I picking up short term responses
2012-06-27 16:01:49 +10:00
2600afe18a
AHRS: implement Bills new drift correction algorithm
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this is an initial implementation of this paper:
http://gentlenav.googlecode.com/files/RollPitchDriftCompensation.pdf
2012-06-27 16:01:49 +10:00
3b2d203f0f
AP_AHRS: updated default AHRS_YAW_P to 0.2 (was 0.4)
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This reduces the compass's default authority over the yaw direction by half
2012-04-30 17:29:45 +09:00
6d837891b0
DCM: buffer omega_I changes over 10 seconds
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this buffers up _omega_I changes in _omega_I_sum over a period of 10
seconds, applying the slope limit only when _omega_I_sum is
transferred to _omega_I.
The result is a huge improvement in the ability of _omega_I to track
gyro drift over the long term.
2012-04-23 12:13:25 +10:00
a9de75156b
AHRS: added AHRS_YAW_P parameter
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this allows users to change the yaw gain in DCM
2012-04-16 20:55:13 +10:00
071f89df2e
AHRS: fixed error_yaw reporting with 2 MAVLink connections
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when a user first connects with USB, and later switches to the
telemetry port without restarting we were getting zero for error_yaw
in the logs, as AHRS.get_error_yaw() was being called twice.
This ensures we give the last value after the counter is reset
2012-03-29 12:39:53 +11:00
bf96d05605
AHRS: adapt the DCM library to the AHRS framework
2012-03-19 17:29:02 +11:00
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
rmackay9
Andrew Tridgell
uncrustify
Jason Short
Jonathan Challinger