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1512 Commits

Author SHA1 Message Date
Andrew Tridgell 31e566475b Math: added zero() and identity() methods to Matrix3f 2012-03-19 17:29:02 +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 d948a28e7c Math: change signs in quaternion library 
thanks to Justin for the suggestion
 2012-03-19 17:29:02 +11:00
Andrew Tridgell af9ce0cfc9 Math: allow eulers test to build with AP_Declination library 2012-03-19 17:29:02 +11:00
Andrew Tridgell 72a761170b Math: fixed build of eulers test on SITL 2012-03-19 17:29:02 +11:00
Andrew Tridgell 58a68c89d9 Math: added a function to combine standard rotations 
this will allow us to have an overall board rotation plus a per-sensor
rotation
 2012-03-19 17:29:02 +11:00
Andrew Tridgell 8ae0ea7e37 AP_Mount: adapt library for AHRS framework 2012-03-19 17:29:02 +11:00
Andrew Tridgell 79b9be8b1a AHRS: fixup the AHRS test suite for the new framework 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 8dcf82b433 AHRS: adapt the DCM_HIL library to AHRS 2012-03-19 17:29:02 +11:00
Andrew Tridgell d4bb068d5b AHRS: adapt the DCM library to the AHRS framework 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
Andrew Tridgell 55ed84526a MAVLink: rename DCM message to AHRS 2012-03-19 17:29:01 +11:00
rmackay9 01cc5fe938 AP_Baro - removed unnecessary 2 element average filtering of pressure (there is a 4 or 5 element average filter in arducopter code itself, two places is messy) 
- also removed unused _offset_press variable
 2012-03-18 15:18:05 +09:00
rmackay9 7560242721 AP_Baro - added average filter for temperature to replace broken filter 
- added average filter (for last two values) for raw pressure
        - changed some "long" to int32_t and "unsigned long" to uint32_t
 2012-03-18 01:06:02 +09:00
Michael Oborne bae5f98666 sitl cygwin mods 2012-03-15 08:16:50 +08:00
Andrew Tridgell 00c1c6f108 Quaternion: credit Justin with the initial idea of using Madgwick 
thanks Justin!
 2012-03-13 13:27:45 +11:00
Andrew Tridgell 13dac4a93a DCM: adjust yaw kp constant down to 0.4 
this makes the time constant for compass errors closely match the
timing of the older releases - about 10 seconds for a 1 radian change
in heading
 2012-03-12 17:49:26 +11:00
Andrew Tridgell 7daaadf776 Compass: fixed the order of rotations in the compass driver 
this should fix the massive heading issues that people have been
reporting. Please test!
 2012-03-12 17:33:15 +11:00
Andrew Tridgell c08fd50542 AP_Declination: fixed build of test sketch 2012-03-12 17:33:15 +11:00
Amilcar Lucas 6e9ffb4249 correct small typos in comments 2012-03-11 21:30:09 +01:00
Andrew Tridgell b337441ec5 SITL: added pgm_read_byte_far() 2012-03-11 20:59:47 +11:00
Andrew Tridgell c1b945018b AP_Declination: fixed usage of headers 2012-03-11 20:59:47 +11:00
Adam M Rivera b9be6ed290 AP_Declination: Updated comment. 
Signed-off-by: Andrew Tridgell <tridge@samba.org>
 2012-03-11 20:59:47 +11:00
Adam M Rivera fe8c896d69 AP_Declination: Added method set_initial_location 
This will set the declination based on lat/lon if the user has
not yet saved one to the EEPROM, OR if they have specified via the
config parameter that they want it to overwrite the declination every
3D fix.

Signed-off-by: Andrew Tridgell <tridge@samba.org>
 2012-03-11 20:59:47 +11:00
Adam M Rivera e08b50ee91 AP_Declination: Increased range of supported latitude coordinates. 
Fixed incorrect type usage to save stack space.

Signed-off-by: Andrew Tridgell <tridge@samba.org>
 2012-03-11 20:59:47 +11:00
Adam M Rivera e22da153ec Added AP_Declination test sketch. I will be improving the test sketch soon. 
Signed-off-by: Andrew Tridgell <tridge@samba.org>
 2012-03-11 20:59:47 +11:00
Adam M Rivera d2a07b1603 Added AP_Declination library. It contains the lookup table (lat/lng -> declination) as well as a method that performs the lookup. 
Signed-off-by: Andrew Tridgell <tridge@samba.org>
 2012-03-11 20:59:47 +11:00
Andrew Tridgell d10c4b76ad Compass: removed an incorrect comment 2012-03-11 20:07:38 +11:00
Andrew Tridgell 0da64e98f8 Compass: don't save the orientation to EEPROM 
there is no point in saving this, the value is only configurable at
compile time for now, and is always set
 2012-03-11 15:37:07 +11:00
Andrew Tridgell 0ec9857689 Math: any euler angle with pitch > 90 is invalid 
both DCM and quaternion always return pitch in the range -90 to 90
 2012-03-11 15:37:07 +11:00
Andrew Tridgell 4bf28d499a Quaternion: update for new Quaternion interface 2012-03-11 15:37:07 +11:00
Andrew Tridgell e8f1c5742b DCM: update for new Matrix3f interface 2012-03-11 15:37:07 +11:00
Andrew Tridgell 4d3789d11c AP_Math: update the test suite 2012-03-11 15:37:07 +11:00
Andrew Tridgell 4422486d44 AP_Math: made rotation matrices more C++ 
thanks to Adam for the suggestion
 2012-03-11 15:37:07 +11:00
Andrew Tridgell 5c6368bad3 AP_Math: allow null pointers in Quaternion::to_euler() 
this matches the Matrix3f method
 2012-03-11 15:37:07 +11:00
Andrew Tridgell 16c95236c0 Quaternion: use the new quaternion API 2012-03-11 15:37:07 +11:00
Andrew Tridgell 9f0cb78f08 AP_Math: re-work quaternion functions to be more C++ like 
thanks to Adam for the suggestion!
 2012-03-11 15:37:07 +11:00
Andrew Tridgell 9e30b5e4a5 I2C: fixed cr/lf mess 2012-03-11 15:37:07 +11:00
Andrew Tridgell 6021daf423 OpticalFlow: adapt optical flow library to new rotation system 2012-03-11 15:37:07 +11:00
Andrew Tridgell 2ab3d2c080 OpticalFlow: fixed line endings 
this library was a mixture of dos and unix line endings, which makes
for very messy editing
 2012-03-11 15:37:07 +11:00
Andrew Tridgell cb96dd975f Compass: update the compass driver to use the new vector.rotate() method 2012-03-11 15:37:07 +11:00
Andrew Tridgell 55aa43a70d Math: added a test suite for the new rotation methods 2012-03-11 15:37:07 +11:00
Andrew Tridgell 289c64c0b9 Math: added vector3.rotate() and matrix3.rotation() methods 
these operate on a "enum Rotation" which defines a set of standard
rotations. These are much faster than our previous method, plus use
less memory
 2012-03-11 15:37:07 +11:00
Andrew Tridgell ba8e764349 SITL: lower the noise and drift levels for general autotest usage 2012-03-10 10:34:34 +11:00
Andrew Tridgell b02ca58901 InertialSensor: fixed HIL build 2012-03-10 10:34:34 +11:00
Andrew Tridgell 44ebb20329 MAVLink: bring the v1.0 MAVLink in sync with 0.9 2012-03-10 10:34:34 +11:00
Andrew Tridgell 87c463bcc7 DCM: after some experimentation, raise the ki values a bit 
this tracks the max gyro drift more accurately
 2012-03-10 10:34:34 +11:00
Andrew Tridgell eff6778515 Quaternion: use gyro drift value from sensor driver 2012-03-10 10:34:34 +11:00
Andrew Tridgell 3989fe2c2c Quaternion: go back to the full update_MARG() 
the separate drift controller is too erratic on yaw hold to be usable
at the moment
 2012-03-10 10:34:34 +11:00
Andrew Tridgell c8189c80d4 SITL: cleanup the gyro drift calculations 
use units that are more easily understood
 2012-03-10 10:34:34 +11:00
Andrew Tridgell b833190abb Quaternion: make the quaternion test more generic 
works with DCM too
 2012-03-10 10:34:33 +11:00
Andrew Tridgell 2f9af05cfa Quaternion: update to get_gyro_drift() interface 2012-03-10 10:34:33 +11:00
Andrew Tridgell bf16b2926c Quaternion: removed some unused variables 2012-03-10 10:34:33 +11:00
Andrew Tridgell 3b2609c441 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 bcb7196680 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 9296ac494d 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 882fa1818b 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 801a442ffb Quaternion: minor tuning 2012-03-10 10:34:33 +11:00
Andrew Tridgell 3344869285 DCM: minor tuning based on testing my quad 2012-03-10 10:34:33 +11:00
Andrew Tridgell dffb435aac SITL: make the yaw match the APM conventions 2012-03-10 10:34:33 +11:00
Andrew Tridgell 2673614f6d SITL: fixed the pwm output on startup 2012-03-10 10:34:33 +11:00
Andrew Tridgell 982712d58f Quaternion: code cleanups and added comments 2012-03-10 10:34:32 +11:00
Andrew Tridgell f405477875 DCM: code cleanup and added more comments 2012-03-10 10:34:32 +11:00
Andrew Tridgell 9dc08b30cd Quaternion: bumb up gyro drift limit to match DCM 2012-03-10 10:34:32 +11:00
Andrew Tridgell f9394f8068 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 8b40c44522 Quaternion: separate out drift correction from main updates 2012-03-10 10:34:32 +11:00
Andrew Tridgell 3e960f8ef9 InertionSensor: update for new Ch6() interface 2012-03-10 10:34:32 +11:00
Andrew Tridgell 919874f2a0 IMU: fixed a warning 2012-03-10 10:34:32 +11:00
Andrew Tridgell 4dff78b9c0 GPS: expose last_fix_time 2012-03-10 10:34:32 +11:00
Andrew Tridgell 6eff9107ea Compass: change last_update to be in microseconds 2012-03-10 10:34:32 +11:00
Andrew Tridgell a0a360f955 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 045b49c4c4 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 321200ebbc AP_IMU: fixed led flashing in gyro cal 
thanks Pat!
 2012-03-10 10:34:31 +11:00
Andrew Tridgell a92fb67b70 AP_Math: expanded the math test suite 2012-03-10 10:34:31 +11:00
Andrew Tridgell 4d65cda0ea 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 8abbbe5713 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 ccada2e9c2 SITL: avoid parent pid code on cygwin 
this causes problems on windows
 2012-03-10 10:34:31 +11:00
Andrew Tridgell 3666476bcb SITL: prevent nested timer interrupts 2012-03-10 10:34:31 +11:00
Andrew Tridgell 3b7d78cf02 Quat: test patch for michael 2012-03-10 10:34:31 +11:00
Andrew Tridgell f363f81869 Quaternion: added NaN paranoid checking 
this is for Michael to run
 2012-03-10 10:34:30 +11:00
Andrew Tridgell 1ec4c0777c Math: added comment on quaternion constructor 2012-03-10 10:34:30 +11:00
Andrew Tridgell f5e6dc0757 Math: added is_inf() on vector3f 2012-03-10 10:34:30 +11:00
Andrew Tridgell 066a513758 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 c7d5f06b21 AP_Math: added quaternion helper functions and a test suite 2012-03-10 10:34:30 +11:00
Andrew Tridgell f70dfe440d 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 47ddd4dfdd SITL: disable interrupts during register updates 
this may prevent bogus mode channel reads
 2012-03-10 10:34:30 +11:00
Andrew Tridgell 7256652de5 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 c7ef72cf28 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 6d356b6c6e Compass: fixed last_update time for HIL compass 2012-03-10 10:34:30 +11:00
Andrew Tridgell ebc55bb494 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 57f67ca6e3 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 7fbfcc2721 GPS: fixed some stdint types 2012-03-10 10:34:29 +11:00
Andrew Tridgell e699e9ace0 Quaternion: added in reporting of gyro drift and rp/yaw errors 2012-03-10 10:34:29 +11:00
Andrew Tridgell 2a8b167d95 fixed comment 2012-03-10 10:34:29 +11:00
Andrew Tridgell c73c55aa90 DCM: fixed an uninitialised variable warning 2012-03-10 10:34:29 +11:00
Andrew Tridgell d8234882d4 Quaternion: tweak the quaternion gains a bit 2012-03-10 10:34:29 +11:00
Andrew Tridgell cc887949c9 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 ffa6786697 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 bee4bd9474 DCM: fixed bug in accel averaging 
sorry Randy!
 2012-03-10 10:34:29 +11:00
Andrew Tridgell 25e5ddeaa4 AP_Quaternion: fixed build on Arduino 1.0 2012-03-10 10:34:29 +11:00
Andrew Tridgell c369d9f60a AP_Quaternion: added DCM compatibility interfaces 
useful for getting the code going quickly
 2012-03-10 10:34:29 +11:00
Andrew Tridgell 6138f31cec AP_IMU: added new_data_available() interface 2012-03-10 10:34:29 +11:00
Andrew Tridgell a9dea35310 AP_InertialSensor: added new_data_available() interface 2012-03-10 10:34:28 +11:00
Andrew Tridgell c80ec9a55c AP_ADC: added new_data_available() interface 
returns true if more samples are available
 2012-03-10 10:34:28 +11:00
Andrew Tridgell c8a459ab0d fixed deltat in quaternion 2012-03-10 10:34:28 +11:00
Andrew Tridgell a791224d07 SITL: make SITL not depend on DCM 2012-03-10 10:34:28 +11:00
Andrew Tridgell 74eef7018a 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 fd2a24f8ed 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 bddc6ba241 SITL: separate out drift speed and drift level 2012-03-10 10:34:28 +11:00
Andrew Tridgell 25cad09746 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 b11b571778 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 145fc91701 AP_Math: added a .zero() method to Vector3f 2012-03-10 10:34:28 +11:00
Andrew Tridgell ae51173656 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 fe173227de 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 8424609924 SITL: push noise level to 2.0 for DCM testing 2012-03-10 10:34:27 +11:00
Andrew Tridgell 6ba6e11e7b DCM: added a small amount of accel smoothing to update_DCM_fast() 2012-03-10 10:34:27 +11:00
Andrew Tridgell 3b1782f369 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 4031320f7c 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 94d0236b97 DCM: added reporting interfaces for DCM state 2012-03-10 10:34:27 +11:00
Andrew Tridgell 772c30ba86 SITL: added sitl_simstate_send() 
used to report simulator state in logs
 2012-03-10 10:34:27 +11:00
Andrew Tridgell 9df332f0ae MAVLink: import new message types DCM, HWSTATUS and SIMSTATE 2012-03-10 10:34:27 +11:00
Andrew Tridgell cc8278c1ac 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 486c56ce41 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 e57b91c2e2 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 6c3cf9ad5b AP_RC - removed unused library 2012-03-04 18:21:52 +09:00
Andrew Tridgell 73dafe537e 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 5f749325f0 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 f4329d2680 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 1e8d98cdda I2C: added lockup_count() interface 
used for reporting I2C problems
 2012-03-02 15:48:27 +11:00
Andrew Tridgell 37275d229d 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 41b435a487 Updated fastPWM to 490Hz 2012-02-29 22:17:38 -08:00
Pat Hickey 337af0c7a2 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 2648694489 AP_Param: One more nexted group recursion disableable by macro 
* c.f. e5515bb6ef82
 2012-02-29 18:48:54 -08:00
rmackay9 fa34ac076e AP_Compass - fixed compile warning 2012-02-29 22:57:35 +09:00
rmackay9 d81c951849 AP_Baro - fixed small compiler warning to do with order of parameters in constructor 2012-02-29 22:46:29 +09:00
rmackay9 c819a0f68a AP_Compass - fixed small compiler warning to do with order of parameters in constructor 2012-02-29 22:45:49 +09:00
rmackay9 5026b5c192 AP_DCM - fixed small compiler warning to do with order of parameters in constructor 2012-02-29 22:45:26 +09:00
rmackay9 82f81295a7 RC_Channel - fixed small compiler warning 2012-02-29 22:44:29 +09:00
rmackay9 c444cdb3f4 AP_ADC - removed small compiler warning 2012-02-29 22:43:46 +09:00
Pat Hickey eac8b66385 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 2b6a10d18b AP_RangeFinder - changed example sketch to work with new Filter library 2012-02-28 21:02:10 +09:00
rmackay9 033347f8ee Filter - updated example sketch to use modified library 2012-02-28 21:01:35 +09:00
rmackay9 645fda2fb2 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 cb52b6c6d9 AP_Param: show numerical value in eeprom dump utility 2012-02-28 09:43:49 +11:00
Andrew Tridgell a432232db9 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 39797c6f33 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 efe5c0142c 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 cd4fcb694e IMU: removed unused accel_filtered code 2012-02-28 09:43:49 +11:00
Andrew Tridgell 87a6d97f7b 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