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1599 Commits

Author SHA1 Message Date
Andrew Tridgell
3177f57d48 build: cope with Arduino 1.0 in command line build 
this should autodetect 1.0 versus older builds
 2012-04-27 15:38:42 +10:00
Adam M Rivera
21886104a6 Parameters.pde/AP_MotorsHeli.cpp: Added comments from Roberts clone. 2012-04-26 18:26:14 -05:00
Adam M Rivera
b1f19dbb01 AP_AHRS_DCM.cpp: Added comments that follow the new parse structure 2012-04-25 12:00:42 -05:00
Andrew Tridgell
532ac607b2 sitl: support MAVLink 1.0 builds 2012-04-24 22:24:58 +10:00
Andrew Tridgell
fef4134702 MAVLink: removed the cpp part of the library 
this was preventing building MAVLink 1.0 with the arduino GUI as we
can't set cpp defines
 2012-04-24 22:24:58 +10:00
Andrew Tridgell
9bf8d60dae MAVLink: one more define for MAVLink 1.0 compat 2012-04-24 19:54:20 +10:00
Andrew Tridgell
fd9d2f856e MAVLink: re-add the XML message definitions 
these are a very useful reference for the current headers in the code
 2012-04-24 10:57:43 +10:00
Andrew Tridgell
a54cd57568 MAVLink: imported new mavlink header updates 
this fixes the camera control code which was broken by a previous
import
 2012-04-24 10:57:43 +10:00
Andrew Tridgell
bff8fc8947 APM_RC: added OutputCh_current() method 
this allows logging of the actual servo output values. The radio_out
method previously used doesn't take account of the various override
mechanisms available via waypoints
 2012-04-24 10:57:43 +10:00
Andrew Tridgell
6d837891b0 DCM: buffer omega_I changes over 10 seconds 
this buffers up _omega_I changes in _omega_I_sum over a period of 10
seconds, applying the slope limit only when _omega_I_sum is
transferred to _omega_I.

The result is a huge improvement in the ability of _omega_I to track
gyro drift over the long term.
 2012-04-23 12:13:25 +10:00
Andrew Tridgell
398a608b83 DCM: drop the 'drop z' method 
the 'drop z' method reduced the impact of noise on omegaI, but it also
made us more sensitive to errors in accelerometer calibration and
scaling, as demonstated by the logs from Gabor here:

  http://diydrones.com/xn/detail/705844:Comment:834373

Simulation testing shows that the other noise suppression methods
applied in the DCM code, in particular the slope limiting on omegaI
the removal of the weighting and the upcoming use of a _omega_I_sum
buffer have reduced the impact of noise enough that we can now safely
include z in the acceleration calculation.
 2012-04-23 12:13:24 +10:00
rmackay9
c62ce95768 AP_Motors - allow tail servo to be reversed. Closes ArduCopter issue #228 2012-04-21 23:07:57 +09:00
rmackay9
346ca5c865 DataFlash_APM2 - moved CS_inactive call (which disables the dataflash) from the beginning to the end of all methods. This means the dataflash does not monopolize the SPI bus. 
Also formatting changes to use tab instead of space. Sorry, should have done this as a separate check-in to the above changes.
 2012-04-21 20:14:45 +09:00
rmackay9
577f18a09c AP_OpticalFlow - updated test sketch to allow testing of APM2 version 2012-04-21 20:11:18 +09:00
rmackay9
e9fd7c955d AP_OpticalFlow - added support for optical flow for APM2 2012-04-21 20:10:35 +09:00
rmackay9
026cd4e64f AP_OpticalFlow - moved most pin definitions into .cpp file 2012-04-21 20:09:15 +09:00
James Goppert
750c30afc1 MAVLink update to 1.0.7 2012-04-20 12:31:50 -04:00
Andrew Tridgell
4652b30adf GPS: u-center config file for 3DR Ublox 2012-04-20 22:05:30 +10:00
Andrew Tridgell
0b194259be GPS: fixed auto GPS test 2012-04-20 22:05:30 +10:00
Andrew Tridgell
3141cfe059 GPS: detect new style 3DR UBlox 2012-04-20 22:05:30 +10:00
Andrew Tridgell
64d5f4c26a GPS: fixed the UBlox test code 2012-04-20 20:57:08 +10:00
James Goppert
b5ca40e8c5 Updated MAVLink to 1.0.6 release. 2012-04-19 15:46:29 -04:00
Adam M Rivera
2c8cd0b07b AP_AHRS_HIL.h: Fixed HIL build by adding missing public property. 2012-04-16 10:26:14 -05:00
Andrew Tridgell
a9de75156b AHRS: added AHRS_YAW_P parameter 
this allows users to change the yaw gain in DCM
 2012-04-16 20:55:13 +10:00
analoguedevices
ce5d71c08c added missing #include 2012-04-09 14:32:54 +00:00
rmackay9
4dac4c4c11 AP_AHRS - changed parameter order to remove compiler warning 2012-04-09 17:37:11 +09:00
rmackay9
cc191b86c0 AP_Compass - changed parameter initialisation order to remove compiler warning 2012-04-09 17:37:02 +09:00
Andrew Tridgell
7921d33c40 MAVLink: imported new mavlink headers 
this adds local and remote radio noise levels
 2012-04-08 12:22:17 +10:00
rmackay9
1b4ac37e66 AP_MotorsMatrix - fixed stability patch issue in which it would not limit a motor's output unless an opposite motor had been defined. This would only have affected Y6 frames. 2012-04-07 12:16:12 +09:00
rmackay9
e63e858b64 AP_MotorsOcta - V Frame - test order fix spotted by David Wiens 2012-04-07 08:11:28 +09:00
rmackay9
d0cbd577cd AP_Motors - fixed last "shadowing" compiler warning caused by badly named parameter in auto_armed method. 2012-04-05 00:28:04 +09:00
rmackay9
c27b83c8a8 AP_MotorsMatrix - fixed another compiler error regarding shadowing a variable. Fixed by removing those the angle and direction arrays which weren't even used 2012-04-05 00:24:56 +09:00
rmackay9
e9f0103063 AP_MotorsHeli - fixed compiler warning re move_swash function declared with int parameters in .h file but actually using int16_t in .cpp file. They're the same in arduino but perhaps the build checker is a little more strict that Arduino. 2012-04-05 00:06:33 +09:00
rmackay9
40e5a15452 AP_Motors - fix compiler warning re shadowing a variable caused by badly named parameter in armed function. 
Another compiler warning fixed in AP_MotorsMatrix.cpp caused by declaring "i" twice.
 2012-04-04 23:59:51 +09:00
rmackay9
71ad185238 ArduCopter - AP_Motors library - added new library which has few advantages over current code: 
1. it's step towards rearchitecting the current code base ahead of a move to RTOS.
     2. internally it uses a MatrixTable for the Quad, Octa, OctaQuad, Y6 frames.
     3. it implements the missing stability patch for Octa and OctaQuads (still missing for Y6)

Later check-ins will incorporate into the main ArduCopter code.
 2012-04-02 17:26:37 +09:00
Andrew Tridgell
5ce5f3d176 MAVLink: import change to txbuf as a percentage 2012-04-02 11:18:53 +10:00
Andrew Tridgell
8a215c8b55 MAVLink: imported new headers, with RADIO packet 2012-04-01 21:44:44 +10:00
Andrew Tridgell
08b66e18b7 FastSerial: added set_blocking_writes() interface 
this allows us to put a serial port into non-blocking mode, so that
writes that don't fit in the transmit buffer are dropped. This will be
used in flight to prevent stray printf() calls from causing large time
delays in the code
 2012-03-30 17:46:20 +11:00
Andrew Tridgell
c2ff66c9cd examples: fixed build of some examples with new AP_Declination code 2012-03-30 14:25:27 +11:00
Andrew Tridgell
825340d53d Compass: added COMPASS_AUTODEC option 
when this is 1 (which is the default), we will get the declination
automatically via the AP_Declination library

when it is 0 we will use the value configured by the user
 2012-03-30 14:25:27 +11:00
Andrew Tridgell
e4e052ff91 AP_Declination: save some more memory by putting the declination keys in progmem 
there was a comment saying this was too slow, but it actually costs
about 30 usec extra, which is trivial given the full auto declination
call costs 680 usec and its only called once per boot
 2012-03-30 14:25:27 +11:00
Andrew Tridgell
edb627a5c1 AP_Declination: added timing information to declination test 2012-03-30 14:25:27 +11:00
Andrew Tridgell
01c4cde14f AP_Declination: fixed build under SITL 2012-03-30 14:25:27 +11:00
Adam M Rivera
9c414e9573 AP_Declination_test: Updated test with better print messages. 2012-03-30 14:25:26 +11:00
Adam M Rivera
cff189e911 AP_Declination: Update LUT based on the changes that I made in the LUT generation code. This LUT is the final version that has no truncation. 2012-03-30 14:25:26 +11:00
Adam M Rivera
380b9ece44 AP_Declination: Updated comments to reflect new LUT size. 2012-03-30 14:25:06 +11:00
Adam M Rivera
c04e074c89 AP_Declination: Removed trailing zero deltas as they have no impact on the final value and only take up extra bytes. 2012-03-30 14:21:58 +11:00
Adam M Rivera
662f11f801 AP_Declination: Updated compressed lookup value table. Located 9 more failure points due to truncation on the packed LUT. 2012-03-30 14:21:58 +11:00
Adam M Rivera
0178906389 AP_Declination: Found 7 of the 22 failure points and fixed them. The issue with those 7 was the way I originally packed the value array. The last delta values on some rows were getting truncated. The new number of failures is down to 15 - WIP. 2012-03-30 14:21:58 +11:00
Adam M Rivera
08259bb2de AP_Declination: Updated test to run in 5 degree increments. Changed to only print failures and also print total pass vs total fail. 2012-03-30 14:21:58 +11:00
Adam M Rivera
64c236800c AP_Declination: Moved check for y index of zero to after the y index is properly transformed. 2012-03-30 14:21:58 +11:00
Adam M Rivera
e99d26cfa3 AP_Declination: The exception signs unpacking logic was incorrect. I was shifting a 1 value left y%8 which would have needed a the signs to be packed right to left. My packed signs byte was packed left to right (left most being the 0 position) so I needed to reverse the shifting. 2012-03-30 14:21:58 +11:00
Adam M Rivera
d9c9e0e608 AP_Declination: In order for the bitwise & operation to work, negative signs need to be represented by 1s instead of 0s. Changed so that negative signs are represented by a 1 in the packed signs array. Updated lookup logic to reflect this change. 2012-03-30 14:21:58 +11:00
Adam M Rivera
8b1c383f97 AP_Declination: Updated packed exception signs array. I had the signs packed incorrectly. 2012-03-30 14:21:57 +11:00
Adam M Rivera
c0813f8d62 AP_Declination: Changed test to run in increments of 10 degrees. 1 was too granular. 2012-03-30 14:21:57 +11:00
Adam M Rivera
289d7a2784 AP_Declination: Added original array to test sketch. Added loop to validate new compressed array against original in 1 degree steps. 2012-03-30 14:21:57 +11:00
Adam M Rivera
63ce400f77 AP_Declination: Moved rows with large spikes in delta to their own unsigned exception rows. The signs are in a separate packed array. 2012-03-30 14:21:57 +11:00
Adam M Rivera
782c1aaaa3 AP_Declination: Implemented Delta Encoding and Run-Length Encoding. Added method to traverse the compressed array and return the lookup value based on the same lat_index/lon_index that was used before. 2012-03-30 14:21:57 +11:00
Adam M Rivera
9888a4730f AP_Declination: Changed PROGMEM read function to pgm_read_word_far to support the int16_t datatype. 2012-03-30 14:21:57 +11:00
Adam M Rivera
d883bdf75e AP_Declination: Changed datatype to int16_t to support the -90 <-> 90 latitude range. 2012-03-30 14:21:57 +11:00
Adam M Rivera
719636d00c AP_Declination: Reduced the size of the lookup table to support -75 <-> 70 latitude range. This allows the datatype to remain int8_t. 2012-03-30 14:21:57 +11:00
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
20941c15c3 Compass: fixed a comment 2012-03-29 12:39:53 +11:00
Andrew Tridgell
79deeef0a0 Compass: added some more comments 
explain the algorithm a bit more
 2012-03-29 12:39:53 +11:00
rmackay9
fd5e1c2f7b Filter - added FilterWithBuffer typedefs for int32t and uint32 for ease of use 2012-03-28 22:02:52 +09:00
rmackay9
99cdc69110 AP_OpticalFlow - small bug fix to ensure init attempts to read the product id 3 times before giving up 2012-03-28 22:00:57 +09:00
Andrew Tridgell
972bdcfa39 SITL: add magnetic field noise to the simulated compass 2012-03-28 20:55:27 +11:00
Andrew Tridgell
dc127fe749 SITL: ensure we don't run the sitl timer twice 
this caused problems with random()
 2012-03-28 20:55:27 +11:00
Andrew Tridgell
2a011578f9 Compass: implement noise resistant varient of offset learning 
This adds a large amount of noise robustness to the compass offset
learning algorithm, at a cost of 120 bytes of memory. The changes are
based on a long discussion with Bill Premerlani.
 2012-03-28 20:55:27 +11:00
Andrew Tridgell
16f094a1c5 ADC: minor fix to the ADC Ch6() code 
we don't need to add count any more, as floating point maths doesn't
need to round up
 2012-03-27 15:37:24 +11:00
Andrew Tridgell
a3d3dd86cf Compass: implement Bills new offset nulling algorithm 
this seems to work much better than the old algorithm, converging
faster and more accurately. Even better, it has no linkage to DCM, so
no possibility of nasty feedback effects
 2012-03-27 15:37:24 +11:00
rmackay9
cf1a6f8ab8 APM_RC - moved Force_Out0_Out1, Force_Out2_Out3 and Force_Out6_Out6 to APM_RC parent class because it's already implemented in the APM1 and APM2 child classes anyway 2012-03-25 21:13:31 +09:00
rmackay9
2324be7e68 Filter - added simple LowPassFilter (simple but it's possible to make errors with simple stuff too so might as well have one) 2012-03-25 16:15:25 +09:00
rmackay9
bdda74fd28 Filter - remove obsolete warning from comments re alloc/malloc dangers 2012-03-25 16:14:07 +09:00
rmackay9
dc58c8a905 AP_Baro - change data type size of temperature's average filter to int32_t (was int16_t) 2012-03-24 23:21:11 +09:00
rmackay9
766abb8e6c AP_OpticalFlow - resolved compile error in example sketch (it could not find DCM.h but it's not required anyway) 2012-03-24 14:47:21 +09:00
Andrew Tridgell
477b31fb0d Math: added mul_transpose() operation 
this is equivalent to multiplying by m.transposed(), but is more
efficient
 2012-03-23 16:48:52 +11:00
Andrew Tridgell
1b3a7d47bd AHRS: fixed build of AHRS example 2012-03-22 23:00:45 +11:00
Andrew Tridgell
fb9790e1f4 Math: moved matrix multiple operations to .cpp file 
this means we only link this in once, rather than for every use of
matrix multiply, which saves us some flash space

We need to be careful not to put large pieces of code in template
headers, as if the operation is used a lot, it costs us a lot of code
space
 2012-03-21 10:43:48 +11:00
Andrew Tridgell
ece2aac4b9 Math: fixed the build of the eulers test in SITL 2012-03-21 10:41:55 +11:00
Andrew Tridgell
e93b31c76b SITL: improve the simulated compass 
this implements a much more accurate model of a compass using matrix
rotations, instead of trying to calculate components directly
 2012-03-21 10:41:55 +11:00
rmackay9
f8ad719825 AC_PID - added more paranoid checking that imax is positive in constructor, operator() and load_gains methods 2012-03-20 11:51:15 +09:00
Andrew Tridgell
aeb010b6e9 AHRS: added AHRS specific MAVLink headers 2012-03-19 17:35:20 +11:00
Andrew Tridgell
07b6f55122 AHRS: added missing AP_AHRS.h 2012-03-19 17:35:20 +11:00
Andrew Tridgell
f1898c3335 DCM: use the new rotate() method from AP_Math 
this allows us to use a tested and optimised rotation method
 2012-03-19 17:29:02 +11:00
Andrew Tridgell
9a40b4b1de Math: added a test for the rotate() method 2012-03-19 17:29:02 +11:00
Andrew Tridgell
7d155c77b1 Math: added rotate() method to Matrix3f 
this is the core method used to update the DCM matrix with a gyro
vector. Moving it to AP_Math allows us to have a test for it
 2012-03-19 17:29:02 +11:00
Andrew Tridgell
a41281ab7f Math: added zero() and identity() methods to Matrix3f 2012-03-19 17:29:02 +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
df79703ed1 Math: change signs in quaternion library 
thanks to Justin for the suggestion
 2012-03-19 17:29:02 +11:00
Andrew Tridgell
c87b945fd2 Math: allow eulers test to build with AP_Declination library 2012-03-19 17:29:02 +11:00
Andrew Tridgell
39067299a5 Math: fixed build of eulers test on SITL 2012-03-19 17:29:02 +11:00
Andrew Tridgell
b6040878b4 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
784f08728b AP_Mount: adapt library for AHRS framework 2012-03-19 17:29:02 +11:00
Andrew Tridgell
3b43d3f9b9 AHRS: fixup the AHRS test suite for the new framework 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
2d12bdb412 AHRS: adapt the DCM_HIL library to AHRS 2012-03-19 17:29:02 +11:00
Andrew Tridgell
bf96d05605 AHRS: adapt the DCM library to the AHRS framework 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
Andrew Tridgell
1170893aaa MAVLink: rename DCM message to AHRS 2012-03-19 17:29:01 +11:00
rmackay9
f3eb15167c 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
ed0d1da4f5 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
42960efe80 sitl cygwin mods 2012-03-15 08:16:50 +08:00
Andrew Tridgell
adcc20e4d3 Quaternion: credit Justin with the initial idea of using Madgwick 
thanks Justin!
 2012-03-13 13:27:45 +11:00
Andrew Tridgell
9a6adb9990 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
aa408655f8 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
0e6037322a AP_Declination: fixed build of test sketch 2012-03-12 17:33:15 +11:00
Amilcar Lucas
a203282779 correct small typos in comments 2012-03-11 21:30:09 +01:00
Andrew Tridgell
42a29169f0 SITL: added pgm_read_byte_far() 2012-03-11 20:59:47 +11:00
Andrew Tridgell
b4d69ef473 AP_Declination: fixed usage of headers 2012-03-11 20:59:47 +11:00
Adam M Rivera
ad3a20b6a3 AP_Declination: Updated comment. 
Signed-off-by: Andrew Tridgell <tridge@samba.org>
 2012-03-11 20:59:47 +11:00
Adam M Rivera
c390db5d92 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
94d1c48544 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
1709403b87 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
3f28184cb0 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
d4aa0a4879 Compass: removed an incorrect comment 2012-03-11 20:07:38 +11:00
Andrew Tridgell
a20f57c59e 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
cc1961b1e8 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
36e92bf4ba Quaternion: update for new Quaternion interface 2012-03-11 15:37:07 +11:00
Andrew Tridgell
eea63ecd6e DCM: update for new Matrix3f interface 2012-03-11 15:37:07 +11:00
Andrew Tridgell
01535a7a21 AP_Math: update the test suite 2012-03-11 15:37:07 +11:00
Andrew Tridgell
6d08e38d5d AP_Math: made rotation matrices more C++ 
thanks to Adam for the suggestion
 2012-03-11 15:37:07 +11:00
Andrew Tridgell
92ada85f49 AP_Math: allow null pointers in Quaternion::to_euler() 
this matches the Matrix3f method
 2012-03-11 15:37:07 +11:00
Andrew Tridgell
18fcb14335 Quaternion: use the new quaternion API 2012-03-11 15:37:07 +11:00
Andrew Tridgell
a9b8c4dd82 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
ea0fb311af I2C: fixed cr/lf mess 2012-03-11 15:37:07 +11:00
Andrew Tridgell
5203df2cf8 OpticalFlow: adapt optical flow library to new rotation system 2012-03-11 15:37:07 +11:00
Andrew Tridgell
7aa6ba2c86 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
3c145ab61c Compass: update the compass driver to use the new vector.rotate() method 2012-03-11 15:37:07 +11:00
Andrew Tridgell
24a9fe8827 Math: added a test suite for the new rotation methods 2012-03-11 15:37:07 +11:00
Andrew Tridgell
85c3c1d2ea 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
a30b03cd0a SITL: lower the noise and drift levels for general autotest usage 2012-03-10 10:34:34 +11:00
Andrew Tridgell
07e8360970 InertialSensor: fixed HIL build 2012-03-10 10:34:34 +11:00
Andrew Tridgell
6d06d9d070 MAVLink: bring the v1.0 MAVLink in sync with 0.9 2012-03-10 10:34:34 +11:00
Andrew Tridgell
fed5426274 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
89b4a9f4ed Quaternion: use gyro drift value from sensor driver 2012-03-10 10:34:34 +11:00
Andrew Tridgell
fd74414884 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
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