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 |