7 Commits

Author	SHA1	Message	Date
Andrew Tridgell	41a974683e	Quaternion: we no longer support acceleration in the GPS driver ... remove the linear acceleration compensation code	2012-08-15 20:07:53 +10:00
Andrew Tridgell	5370f9c411	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	0399aa9480	AHRS: update for new _fly_forward flag	2012-06-27 16:01:49 +10:00
Andrew Tridgell	071f89df2e	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	fbe8592d3c	Quaternion: change signs in AP_AHRS_Quaternion ... thanks to Justin for the suggestion	2012-03-19 17:29:02 +11:00
Andrew Tridgell	fe63e79416	AHRS: adapt the quaternion library to AHRS	2012-03-19 17:29:02 +11:00
Andrew Tridgell	e976c70e19	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