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1462 Commits

Author SHA1 Message Date
Andrew Tridgell 1002bbcbfe SITL: cleanup the gyro drift calculations 
use units that are more easily understood
 2012-03-10 10:34:34 +11:00
Andrew Tridgell ad21913605 Quaternion: make the quaternion test more generic 
works with DCM too
 2012-03-10 10:34:33 +11:00
Andrew Tridgell a889135e78 Quaternion: update to get_gyro_drift() interface 2012-03-10 10:34:33 +11:00
Andrew Tridgell e0cc9c93a1 Quaternion: removed some unused variables 2012-03-10 10:34:33 +11:00
Andrew Tridgell b67b0afd10 DCM: separate out the omega_yaw_P from omega_P 
this cleans up the separation of drift rates and proportional
correction from yaw source and accelerometers, allow the yaw
to run at a different rate to the accel correction
 2012-03-10 10:34:33 +11:00
Andrew Tridgell f4b1dae7cf IMU: added get_gyro_drift_rate() interface 
this just calls down to the InertialSensor layer
 2012-03-10 10:34:33 +11:00
Andrew Tridgell f46fba54dc AP_InertialSensor: added a get_gyro_drift_rate() interface 
this returns the expected max drift rate for the particular type of
gyro being used
 2012-03-10 10:34:33 +11:00
Andrew Tridgell 9e07fa3af6 DCM: removed the limit on linear acceleration 
we get linear accelerations of more than 1g when turning corners
 2012-03-10 10:34:33 +11:00
Andrew Tridgell ab1aec0f77 Quaternion: minor tuning 2012-03-10 10:34:33 +11:00
Andrew Tridgell e470bf2354 DCM: minor tuning based on testing my quad 2012-03-10 10:34:33 +11:00
Andrew Tridgell 97faa47ba6 SITL: make the yaw match the APM conventions 2012-03-10 10:34:33 +11:00
Andrew Tridgell d1713bd2fb SITL: fixed the pwm output on startup 2012-03-10 10:34:33 +11:00
Andrew Tridgell 8b37790bd1 Quaternion: code cleanups and added comments 2012-03-10 10:34:32 +11:00
Andrew Tridgell f5e5ccff6a DCM: code cleanup and added more comments 2012-03-10 10:34:32 +11:00
Andrew Tridgell e2b2c9181e Quaternion: bumb up gyro drift limit to match DCM 2012-03-10 10:34:32 +11:00
Andrew Tridgell 2b6fae6e16 ADC: removed the ADC level accel smoothing 
the quaternion code does a better job of handling this noise than this
filter does
 2012-03-10 10:34:32 +11:00
Andrew Tridgell 8ad6b5f4d1 Quaternion: separate out drift correction from main updates 2012-03-10 10:34:32 +11:00
Andrew Tridgell ff4f7ccc65 InertionSensor: update for new Ch6() interface 2012-03-10 10:34:32 +11:00
Andrew Tridgell d1976449fd IMU: fixed a warning 2012-03-10 10:34:32 +11:00
Andrew Tridgell e9f35bfa7f GPS: expose last_fix_time 2012-03-10 10:34:32 +11:00
Andrew Tridgell 17daa2f31c Compass: change last_update to be in microseconds 2012-03-10 10:34:32 +11:00
Andrew Tridgell 404a4e4896 ADC: use floats for ADC averaging 
this costs almost nothing and improved accel/gyro calibration
 2012-03-10 10:34:32 +11:00
Andrew Tridgell 4c6afa36cb DCM: removed update_DCM_fast 
this combines the functionality of the 'fast' DCM with the normal one,
and also speeds up both the yaw drift correction and the matrix update
code
 2012-03-10 10:34:31 +11:00
Andrew Tridgell 2c279639a3 AP_IMU: fixed led flashing in gyro cal 
thanks Pat!
 2012-03-10 10:34:31 +11:00
Andrew Tridgell b39323bf1b AP_Math: expanded the math test suite 2012-03-10 10:34:31 +11:00
Andrew Tridgell a8fd31a5e1 AP_Math: added quaternion->matrix and earth frame routines 
this will be used for 3d acceleration
 2012-03-10 10:34:31 +11:00
Andrew Tridgell d3dc5bd751 AP_Math: better way of handling safe_sqrt() 
better to test the result, than predict it
 2012-03-10 10:34:31 +11:00
Andrew Tridgell b273df0725 SITL: avoid parent pid code on cygwin 
this causes problems on windows
 2012-03-10 10:34:31 +11:00
Andrew Tridgell e1ff9a641b SITL: prevent nested timer interrupts 2012-03-10 10:34:31 +11:00
Andrew Tridgell d11aab610d Quat: test patch for michael 2012-03-10 10:34:31 +11:00
Andrew Tridgell a954f68f27 Quaternion: added NaN paranoid checking 
this is for Michael to run
 2012-03-10 10:34:30 +11:00
Andrew Tridgell d24b055b66 Math: added comment on quaternion constructor 2012-03-10 10:34:30 +11:00
Andrew Tridgell 1f5095e722 Math: added is_inf() on vector3f 2012-03-10 10:34:30 +11:00
Andrew Tridgell 89a10c584d Quaternion: added more numerical safety in the quaternion code 
prevent infinities from creeping in and prevent large drift changes
 2012-03-10 10:34:30 +11:00
Andrew Tridgell f2e6714598 AP_Math: added quaternion helper functions and a test suite 2012-03-10 10:34:30 +11:00
Andrew Tridgell f71311fdc0 Quaternion: fix the gyro bias in centripetal and remove smoothing 
the centripetal code needs to take account of the current gyro
bias.

It turned out that the accel and gyro smoothing was causing
significant control lag, and we're better off just letting the
quaternion code handle it via its own smoothing parameters
 2012-03-10 10:34:30 +11:00
Andrew Tridgell 76736792f8 SITL: disable interrupts during register updates 
this may prevent bogus mode channel reads
 2012-03-10 10:34:30 +11:00
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 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 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 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 79b8ddc236 DCM: added a small amount of accel smoothing to update_DCM_fast() 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 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
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 34cf1e8fb3 Updated on Barometer - increased the Temp filtering and decreased the pressure filtering to and get less temp noise, faster response from pressure. I'm filtering the Climb rate differently now, so this higher pressure noise should not hurt the derivative calcs at all now. 2012-03-06 20:55:35 -08:00
rmackay9 6c1299fe7e AP_RC - removed unused library 2012-03-04 18:21:52 +09:00
Andrew Tridgell dd9065123c SITL: use the new noise model 
use the new noise model at a low level for master until we sort out
DCM noise handling
 2012-03-02 18:31:07 +11:00
Andrew Tridgell 63ea5dfb49 APM_RC: allow the fast RC speed to be passed as a parameter 
this will allow users to test different speeds
 2012-03-02 17:57:08 +11:00
Andrew Tridgell f1a389fe19 AP_Param: ensure we can't have duplicate keys in Parameters.h 
this is O(n^2), but only at startup, and takes less than 1ms to run.
It catches a very nasty coding error
 2012-03-02 15:48:28 +11:00
Andrew Tridgell 1476f044e6 I2C: added lockup_count() interface 
used for reporting I2C problems
 2012-03-02 15:48:27 +11:00
Andrew Tridgell c9031f1d36 SITL: implement cli()/sei() properly for desktop build 
this disables simulated hardware interrupts during critical sections
 2012-03-02 15:48:27 +11:00
Jason Short 59e1d43f60 Updated fastPWM to 490Hz 2012-02-29 22:17:38 -08:00
Pat Hickey 8fa559930f AP_Param: nested group recursion into next_group disableable by macro 
* c.f. 0251932c81fe7eb, e5515bb6ef82
 2012-02-29 19:48:43 -08:00
Pat Hickey 8b3d013294 AP_Param: One more nexted group recursion disableable by macro 
* c.f. e5515bb6ef82
 2012-02-29 18:48:54 -08:00
rmackay9 9832ac879e AP_Compass - fixed compile warning 2012-02-29 22:57:35 +09:00
rmackay9 0311b70004 AP_Baro - fixed small compiler warning to do with order of parameters in constructor 2012-02-29 22:46:29 +09:00
rmackay9 64f9f1d92e AP_Compass - fixed small compiler warning to do with order of parameters in constructor 2012-02-29 22:45:49 +09:00
rmackay9 7c1d1b45a7 AP_DCM - fixed small compiler warning to do with order of parameters in constructor 2012-02-29 22:45:26 +09:00
rmackay9 3cbd172ea9 RC_Channel - fixed small compiler warning 2012-02-29 22:44:29 +09:00
rmackay9 ced49f7d01 AP_ADC - removed small compiler warning 2012-02-29 22:43:46 +09:00
Pat Hickey 42078f2794 AP_Param: Make nested group recursion disableable by macro 
* Eliminates recursive calls inside AP_Param.
  This is important to Pat @ Galois, but not the project in general.
  Recursion depth on these functions is bounded structurally using
  existing nested group constructors (can't create loops in finite space)
  and checked at init time
 2012-02-28 16:28:27 -08:00
rmackay9 400a4b0bdb AP_RangeFinder - changed example sketch to work with new Filter library 2012-02-28 21:02:10 +09:00
rmackay9 5b89c65d9c Filter - updated example sketch to use modified library 2012-02-28 21:01:35 +09:00
rmackay9 d17a015df1 Filter - added AverageFilter, removed SumFilter 
added FilterWithBuffer to allow removal of malloc/free without losing ability to pass around filter objects
 2012-02-28 21:01:11 +09:00
Andrew Tridgell 078268528e AP_Param: show numerical value in eeprom dump utility 2012-02-28 09:43:49 +11:00
Andrew Tridgell 701da6c30f AP_Param: fixed v.load() on a sub-element of a AP_Vector3f 
this isn't actually used at the moment in APM, but we should get it
right in case someone does try to load a single element of a vector
 2012-02-28 09:43:49 +11:00
Andrew Tridgell 34f1ebcfb4 SITL: simulate noise on each ADC channel separately 
scale the noise based on the period of the motors
 2012-02-28 09:43:49 +11:00
Andrew Tridgell 4cdc0a8c11 SITL: raise the ADC noise level to 8 bits when flying 
this is about the level of noise of a aircraft that has a lot of
vibration
 2012-02-28 09:43:49 +11:00
Andrew Tridgell b32701e008 IMU: removed unused accel_filtered code 2012-02-28 09:43:49 +11:00
Andrew Tridgell ac44b73951 AP_Param: fixed setting of CAM_P_G in ArduCopter 
the variable CAM_P_G has the same prefix as the CAM_P group. We want
to allow for parameters having a common prefix with a group, so we
need to keep searching after we've found a group that matches the
prefix
 2012-02-27 10:54:33 +11:00
Andrew Tridgell 7fe4a41c31 AP_Param: make the templating code a bit clearer 
add comments on the arguments, and name them in a clearer way
 2012-02-27 10:54:33 +11:00
Andrew Tridgell 5bf138fb38 DCM: fixed the sense of the compass GPS test in initial yaw 
we were only disabling null offsets when we didn't have a compass,
which doesn't make much sense!
 2012-02-26 22:24:45 +11:00
rmackay9 747e045193 ModeFilter - corrected shadowed variable compiler warning for drop_high_sample 2012-02-26 17:57:28 +09:00
rmackay9 e01477a7a8 Filter - added AverageFilter - this will be used in place of SumFilter because it removes the possibility of overflows 2012-02-26 17:34:36 +09:00
rmackay9 b345529241 Filter - removed shadowing of variables in constructors for Filter, ModeFilter and SumFilter (sorry tridge!) 
increased maximum sample buffer size from 6 to 10
 2012-02-26 17:17:46 +09:00
rmackay9 3f0d27ec87 ModeFilter - remove older ModeFilter library (new library is now in Filter directory) 2012-02-26 15:36:23 +09:00
rmackay9 00a1b5cd53 AP_RangeFinder - cut over to use new ModeFilter from Filter library 2012-02-26 15:34:50 +09:00
rmackay9 ae8fd43335 Filter - first version of filter library include ModeFilter 2012-02-26 15:34:05 +09:00
rmackay9 f6f05755d9 AP_Mount - #include FastSerial first to allow it to compile under Arduino 1.0 2012-02-26 15:31:56 +09:00
Andrew Tridgell bd2776aedd Compass: use constructor to set initial values for _learn and _use_for_yaw 
this ensures they are set if you have MAG_ENABLE==0
 2012-02-25 17:36:31 +11:00
Andrew Tridgell 56bb74ef36 DCM: disable compass null offsets when setting initial yaw 
we need to ensure the compass null offsets code doesn't see a sudden
yaw change, or it will change the offsets by a large amount very
suddenly
 2012-02-25 16:02:24 +11:00
Andrew Tridgell f50f4357ca Compass: catch the case of a user enabling a compass mid-flight 
if a compass has not been initialised at startup we can't enable it
mid-flight, as we don't have the orientation
 2012-02-25 14:51:09 +11:00
Andrew Tridgell 3abe035557 DCM: use the new use_for_yaw() compass method 2012-02-25 14:51:09 +11:00
Andrew Tridgell c3319afadd Compass: added COMPASS_LEARN and COMPASS_USE parameters 
these allow you to control if the compass should be used for yaw and
if it should learn its offsets. This is useful for locking in compass
offsets once they are confirmed to be good, and for learning offsets
without using them in flights.

The default is to behave the same as previously, which is
COMPASS_LEARN=1 and COMPASS_USE=1
 2012-02-25 14:51:08 +11:00
Andrew Tridgell 051bd78b37 AP_Param: added some comments on AP_Vector3f handling 2012-02-25 11:37:20 +11:00
Andrew Tridgell 3cf0eebac8 DCM: don't reset _have_initial_yaw for GPS heading unless very slow 
wait till we reach 1m/s before we reset _have_initial_yaw. This
prevents us continually resetting the DCM matrix if our ground speed
is close to 3m/s.
 2012-02-25 11:37:20 +11:00
Andrew Tridgell 007a6b8958 AP_Param: added special handling for Vector3f 
We would like to be able to use Vector3f as a parameter while exposing
the individual elements of the vector as MAVLink parameters. This
change to AP_Param makes that possible, by giving AP_Vector3f a dual
personality
 2012-02-25 11:37:20 +11:00
Andrew Tridgell 1d95137b71 SITL: added -C option to desktop mode 
this allows running APM to stdout, which is useful for test sketches
 2012-02-25 11:37:20 +11:00
Andrew Tridgell f221bd13ab libs: removed unused library GPS_IMU 2012-02-25 11:37:20 +11:00
Andrew Tridgell 1a21c78062 libs: removed unusued library GCS_SIMPLE 2012-02-25 11:37:20 +11:00
Andrew Tridgell c63ca9c697 DCM: tidy up use of error_course and in_motion 
in_motion is not a good name now it is also used for the compass

The error_course and heading component values don't need to be part of
the DCM object, they can be on the stack to reduce the memory usage a bit
 2012-02-25 11:37:20 +11:00
Andrew Tridgell d5b619218c DCM: use rotation_matrix_from_euler() to calculate initial yaw 
When we first get a compass reading or we first start motion we need
to setup the DCM matrix with the right yaw. This uses
rotation_matrix_from_euler() to get a DCM matrix corresponding to our
current roll/pitch, but with the correct yaw
 2012-02-25 11:37:20 +11:00
Andrew Tridgell 48cad8bc25 DCM: use rotation_matrix_from_euler() in matrix reset 
this makes the code a bit easier to read
 2012-02-24 11:54:11 +11:00
Andrew Tridgell 5009679617 DCM: use calculate_euler_angles() to get eulers from DCM 
this makes the code a bit easier to understand
 2012-02-24 11:52:55 +11:00
Andrew Tridgell df6013616e AP_Math: added rotmat <-> euler functions 
these will make the dcm matrix manipulation easier to understand
 2012-02-24 11:52:55 +11:00
Andrew Tridgell 50f85835bd Compass: ensure we don't produce NAN values for compass heading 
this leaves the previous heading values alone if we are at a pitch of
exactly 90 or -90, at which point we can't compute a meaningful
heading
 2012-02-24 11:52:55 +11:00
Andrew Tridgell 8190204287 AP_Math: added safe_sqrt() function 
this function will never return NAN. It will return zero for negative
numbers.
 2012-02-24 11:52:55 +11:00
Andrew Tridgell 0acea11152 DCM: tidy up the nan checking in DCM 
use is_nan() on the matrix rather than just on c.x, and add
safe_asin() to the (unused) OUTPUTMODE==2 code.
 2012-02-24 11:52:55 +11:00
Andrew Tridgell b4c8d6491a DCM: added matrix recovery on reset 
when we get a bad DCM error we can recover a matrix corresponding to
the current attitude, making it more likely that the aircraft will be
able to recover
 2012-02-24 11:52:55 +11:00
Andrew Tridgell 1a32ececb4 AP_Math: added a safe_asin() function 
this adds range checking to asin()
 2012-02-24 11:52:55 +11:00
Andrew Tridgell 7dd909a16b AP_Math: added is_nan() methods to vector3f and matrix3f 2012-02-24 11:52:55 +11:00
Jason Short 2a4b7facaa added set integrator 2012-02-23 09:38:08 -08:00
Andrew Tridgell 8707965c15 DCM: changed the sense of floating point range comparison 
This allows us to detect NaN, otherwise NaN values were considered 
'in range'
 2012-02-23 11:41:26 +11:00
Andrew Tridgell 9caa4aeb44 DCM: range check the matrix before calculating pitch 
The asin() in the pitch calculation can only take values between -1
and 1. This change ensures that the value is in range, and if it isn't
then we force a normalization. If that fails we reset the matrix
 2012-02-23 08:16:08 +11:00
Andrew Tridgell 13693e1a04 DCM: reset more values on renorm blowup 
when DCM blows up, we need to reset a lot more variables to ensure
that any NaN values don't persist
 2012-02-23 08:16:08 +11:00
Andrew Tridgell 5cfe1ad5dc DCM: remove the taylor expansion optimisation for renormalisation 
The sqrt() costs about 44usec on a 2560, which is small enough for us
not to worry about the speed.

This also changes the range of values where we declare a blowup to
much less likely, which means we can cope with larger delta_t glitches
 2012-02-23 08:16:08 +11:00
Andrew Tridgell f30c721886 AP_Param: added ParamToken type for variable list traversal 2012-02-19 17:05:28 +11:00
Jason Short 669e8e34ea added a limit to range output 2012-02-18 21:08:17 -08:00
Randy Mackay 0b369cf78b Optflow - added reference to FastSerial to resolve compile error on Arduino 1.0. 
also removed reference to DCM (no longer required) and removed some old code.
 2012-02-18 18:09:40 +09:00
Andrew Tridgell 2472f0a2f3 SITL: increase the amount of noise in the simulated ADC 
this increases the noise to 2 bits, which actually can have the effect
of improving accuracy, as it leads to better averaging
 2012-02-18 19:27:15 +11:00
Andrew Tridgell 9602b1f91b DCM: only add in centripetal accel if we have GPS lock 
if we don't have a GPS or the GPS doesn't have a good lock then we
can't rely on the ground speed for adjusting the acceleration vector
 2012-02-18 19:27:15 +11:00
Andrew Tridgell 371a91cfcf IMU: move _sensor_cal to general IMU class 
this makes it available both in shim and INS subclasses
 2012-02-18 10:51:57 +11:00
Andrew Tridgell 2b8f0c3a48 AP_Param: moved AP_Vector3f and AP_Matrix3f declarations to AP_Math.h 
this avoids us needing AP_Math.h in every utility sketch and example
 2012-02-18 10:51:57 +11:00
Andrew Tridgell 70a135c47c AP_Param: fixed copy-assignment operators for AP_Param vectors 2012-02-18 10:51:57 +11:00
Andrew Tridgell e656928c01 AP_Param: added a set_and_save_ifchanged() method 
this can be used to avoid the scan() in more frequenctly saved
variables, such as the MAVLink stream rates in APM
 2012-02-18 10:51:57 +11:00
Andrew Tridgell 6f080742b8 AP_Param: added an initialised() method 
this will be used by the compass code
 2012-02-18 10:51:57 +11:00
justinbeech 5255512bf9 Found free extra 256 bytes of RAM eliminate _clz use from libgcc 
Believe it or not, changing / 2^31 to >>31 saved 256 bytes in the "d" segment.

The reason is that GCC version prior to 4.3.5 does not have a count_leading_zeros (clz) assembler macro, so it uses a 256 byte lookup table called _clz
The _clz table gets pulled in if you do 64 bit division.
This tiny change is the only place that we do long long division.
Changing to a shift saves 256 bytes of ram.
 2012-02-17 09:46:05 +00:00
Jason Short 560985b509 made I term return in same pattern as D term 2012-02-16 22:09:22 -08:00
Andrew Tridgell 3fbb5a2d6c ADC: on channel overflow we should not zero last_ch6_micros 
this happens every 64 seconds because of unused channels on the
ADC. Zeroing this creates a bad delta_t value for the DCM code.
 2012-02-16 17:48:36 +11:00
Jason Short 8e88d9e19e change constant to float 44330.0 2012-02-15 09:10:14 -08:00