Commit Graph

3640 Commits

Author SHA1 Message Date
Andrew Tridgell e445a455d0 Quaternion: use GPS to correct for linear acceleration
this gives much better pitch estimates. We should do this with the
airspeed sensor if available.
2012-03-10 10:34:30 +11:00
Andrew Tridgell 1ea1b500a6 Quaternion: don't update if we have a very long deltat
this can be caused by stopping the system in a debugger
2012-03-10 10:34:30 +11:00
Andrew Tridgell 8b73166605 Compass: fixed last_update time for HIL compass 2012-03-10 10:34:30 +11:00
Andrew Tridgell 2969e16f7d RC: disable interrupts when reading the RC registers
this prevents getting bogus values which could cause a flight mode
change
2012-03-10 10:34:30 +11:00
Andrew Tridgell efe2686b33 GPS: added an acceleration estimate to the GPS driver
This uses the GPS ground speed to estimate acceleration
2012-03-10 10:34:30 +11:00
Andrew Tridgell 02ae5358d5 GPS: fixed some stdint types 2012-03-10 10:34:29 +11:00
Andrew Tridgell 2f5a4cdc4a Quaternion: added in reporting of gyro drift and rp/yaw errors 2012-03-10 10:34:29 +11:00
Andrew Tridgell 04826065ef Quaternion: show "Quaternion test" on startup if enabled 2012-03-10 10:34:29 +11:00
Andrew Tridgell 934a05bbc6 fixed comment 2012-03-10 10:34:29 +11:00
Andrew Tridgell a60cf111c5 DCM: fixed an uninitialised variable warning 2012-03-10 10:34:29 +11:00
Andrew Tridgell 7d9c4094a2 Quaternion: tweak the quaternion gains a bit 2012-03-10 10:34:29 +11:00
Andrew Tridgell e33bb217bc AP_IMU: improved the gyro calibration code
this should give a much more accurate result
2012-03-10 10:34:29 +11:00
Andrew Tridgell de1cfc8e34 Quaternion: drop the gyro drift rates down
this should allow us to cope with noise more readily
2012-03-10 10:34:29 +11:00
Andrew Tridgell 2d6680f144 DCM: fixed bug in accel averaging
sorry Randy!
2012-03-10 10:34:29 +11:00
Andrew Tridgell 73594199c8 AP_Quaternion: fixed build on Arduino 1.0 2012-03-10 10:34:29 +11:00
Andrew Tridgell 1591d41b33 ACM: make it possible to build ArduCopter with quaternions 2012-03-10 10:34:29 +11:00
Andrew Tridgell bc81d8e6ac ACM: only call the fast loop if the imu has new data
this prevents us spinning waiting for the sensors to gather some data
2012-03-10 10:34:29 +11:00
Andrew Tridgell aa4beb9753 APM: make it possible to build ArduPlane with quaternion support 2012-03-10 10:34:29 +11:00
Andrew Tridgell a85ba80246 AP_Quaternion: added DCM compatibility interfaces
useful for getting the code going quickly
2012-03-10 10:34:29 +11:00
Andrew Tridgell 626f8598ed AP_IMU: added new_data_available() interface 2012-03-10 10:34:29 +11:00
Andrew Tridgell a052aa8435 AP_InertialSensor: added new_data_available() interface 2012-03-10 10:34:28 +11:00
Andrew Tridgell 61d649e7ac AP_ADC: added new_data_available() interface
returns true if more samples are available
2012-03-10 10:34:28 +11:00
Andrew Tridgell 4a277f9871 fixed deltat in quaternion 2012-03-10 10:34:28 +11:00
Andrew Tridgell 353f9e613f SITL: make SITL not depend on DCM 2012-03-10 10:34:28 +11:00
Andrew Tridgell fb23c617fa Quaternion: added an AP_Quaternion library
this is for experimenting with the Madgwick quaternion system, to see
if it is more or less noise sensitive than DCM
2012-03-10 10:34:28 +11:00
Andrew Tridgell a05eeab55e SITL: reduce the simulated compass offsets
this was causing us problems in getting DCM right
2012-03-10 10:34:28 +11:00
Andrew Tridgell a54d6f744e HWSTATUS: if we don't know the voltage, report it as zero
this will tell us if board_voltage() is really working
2012-03-10 10:34:28 +11:00
Andrew Tridgell 9393b21a8d ACM: adjust yaw drift correction constants
this should give the compass a bit more authority
2012-03-10 10:34:28 +11:00
Andrew Tridgell 8e162ec35b APM: fixed reset of control switch when short_fs_action is disabled
When FS_SHORT_ACTN is 0, we should not re-read the control switch
unless we changed mode on the initial short fs action
2012-03-10 10:34:28 +11:00
Andrew Tridgell d03b11092b SITL: separate out drift speed and drift level 2012-03-10 10:34:28 +11:00
Andrew Tridgell 71d3847bfc SITL: added a drift_level multiplier
this makes it easier to experiment with different gyro drift levels
2012-03-10 10:34:28 +11:00
Andrew Tridgell 61ebcfe9fe DCM: fixed the averaging of accel values for update_DCM_fast()
this should improve drift correction for ArduCopter
2012-03-10 10:34:28 +11:00
Andrew Tridgell de32c3bc31 AP_Math: added a .zero() method to Vector3f 2012-03-10 10:34:28 +11:00
Andrew Tridgell a0e2e69431 SITL: fixed delay() to account for signal interrupions
when a timer went off we stopped the delay() code
2012-03-10 10:34:28 +11:00
Andrew Tridgell 37ab76c9e6 DCM_Test: fixed example code to work with SITL
this also fixes the compass setup
2012-03-10 10:34:27 +11:00
Andrew Tridgell d2a969ee95 SITL: push noise level to 2.0 for DCM testing 2012-03-10 10:34:27 +11:00
Andrew Tridgell 506b91a587 autotest: run fg viewers with less CPU priority 2012-03-10 10:34:27 +11:00
Andrew Tridgell 65b26619d4 autotest: added CMAC test circuit
this is what I am using for noise testing
2012-03-10 10:34:27 +11:00
Andrew Tridgell 79b8ddc236 DCM: added a small amount of accel smoothing to update_DCM_fast() 2012-03-10 10:34:27 +11:00
Andrew Tridgell b07a3eb966 ACM: added SIMSTATE, DCM and HWSTATUS messages to ACM 2012-03-10 10:34:27 +11:00
Andrew Tridgell 55413bfcc1 DCM: don't use the z accel sensor for drift correction
the z accel is the noisest, and seems to do more harm than good. Using
just x and y is sufficient for drift correction by assuming the vector
length
2012-03-10 10:34:27 +11:00
Andrew Tridgell a78b00513b DCM: added a small amount of gyro and accel smoothing
possibly not needed, but convenient to be able to test with different
values
2012-03-10 10:34:27 +11:00
Andrew Tridgell 46c91fa0c4 APM: added logging of DCM, HWSTATUS and SIMSTATE 2012-03-10 10:34:27 +11:00
Andrew Tridgell 82032b17a9 DCM: added reporting interfaces for DCM state 2012-03-10 10:34:27 +11:00
Andrew Tridgell ae6a94a933 SITL: added sitl_simstate_send()
used to report simulator state in logs
2012-03-10 10:34:27 +11:00
Andrew Tridgell d106e3a970 MAVLink: import new message types DCM, HWSTATUS and SIMSTATE 2012-03-10 10:34:27 +11:00
Andrew Tridgell 4e354a9731 DCM: got rid of _error_roll_pitch from object state
this can be a local error variable in common with the yaw code. This
saves 12 bytes in the object.
2012-03-10 10:34:27 +11:00
Michael Oborne f399ada86f APM Planner 1.1.50
rename messagebox to custommessagebox
mag calibration now working. > hardware setup tab
2012-03-09 23:18:12 +08:00
Jason Short 13e9608fb8 Consolidated Barometer pressure sensing to a single filter based on Randy's new filter class. 2012-03-08 23:13:04 -08:00
Jason Short df812dd78a temp remove filter for quad motors during testing. It's unlikely this filter did anything at all to be honest. 2012-03-06 22:23:06 -08:00