ardupilot

Author	SHA1	Message	Date
Andrew Tridgell	3a41ad8e7c	AHRS: normalize the ge vector in drift correction, and use barometer 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
Andrew Tridgell	4d08f75292	AHRS: update for new _fly_forward flag	2012-06-27 16:01:49 +10:00
Andrew Tridgell	b549b88e5e	AHRS: fixed error_yaw reporting with 2 MAVLink connections 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
Andrew Tridgell	c53b320e00	Quaternion: change signs in AP_AHRS_Quaternion thanks to Justin for the suggestion	2012-03-19 17:29:02 +11:00
Andrew Tridgell	f8087d3c67	AHRS: adapt the quaternion library to AHRS	2012-03-19 17:29:02 +11:00
Andrew Tridgell	9d75ffeba1	AHRS: rename DCM and Quaternion implementions ready for AHRS class this is the first step to creating a general AHRS class for ArduPilot	2012-03-19 17:29:01 +11:00